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Virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation

A technology of topology control and virtual potential field, which is applied in three-dimensional position/channel control, mechanical equipment, combustion engine, etc., to achieve the effect of ensuring the global optimization of the system, avoiding oscillation, and solving the problem of falling into local extremum

Active Publication Date: 2022-07-22
四川腾盾科技有限公司
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Problems solved by technology

The existing UAV topology control research is mainly aimed at the topology control of small UAV groups (non-heterogeneous), to solve the problem of formation consistency, and there is no group topology for heterogeneous UAVs (large / small UAVs and other mixed clusters) Research on Control and Cooperative Obstacle Avoidance

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  • Virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation
  • Virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation
  • Virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation

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Embodiment Construction

[0035] The specific embodiments of the present invention are described below to facilitate those skilled in the art to understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Such changes are obvious within the spirit and scope of the present invention as defined and determined by the appended claims, and all inventions and creations utilizing the inventive concept are within the scope of protection.

[0036] like figure 1 As shown in the figure, a topology control method for cooperative obstacle avoidance based on a virtual potential field of a heterogeneous UAV formation includes the following steps:

[0037] S1. Perform cluster networking among heterogeneous UAV nodes to construct an improved dynamic potential field, a virtual potential field for formation maintenance based on heterogeneous formation reference points, and an o...

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Abstract

The invention discloses a virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation. According to the method, the unmanned aerial vehicles are superposed with formation keeping virtual potential fields based on heterogeneous formation datum points according to heterogeneous cluster improved dynamic situation fields, cluster networking communication relations among the heterogeneous unmanned aerial vehicles are integrated, a heterogeneous unmanned aerial vehicle dynamic autonomous cooperative obstacle avoidance control algorithm is adopted, autonomous cooperative obstacle avoidance processing is carried out on multiple static / dynamic obstacles, and the unmanned aerial vehicles are effectively prevented from being damaged. The formation can be dynamically adjusted in real time to adapt to obstacle states of different numbers, different distributions and different dynamic characteristics, a predetermined basic formation is synchronously kept in the obstacle avoidance process, meanwhile, the unmanned aerial vehicle can smoothly bypass obstacles, the problem that the unmanned aerial vehicle falls into a local extreme value is solved, and the unmanned aerial vehicle obstacle avoidance efficiency is improved. And oscillation caused by approaching an obstacle can be avoided, and the global optimum of the system is ensured.

Description

technical field [0001] The invention relates to the technical field of heterogeneous unmanned aerial vehicle swarm communication, in particular to a topology control method for cooperative obstacle avoidance based on a virtual potential field of heterogeneous unmanned aerial vehicle formation. Background technique [0002] A heterogeneous UAV swarm is a multi-node cluster network composed of multiple heterogeneous UAVs (large / small UAVs, etc.) through a specific cluster formation protocol, and each UAV node interacts through the network under a predetermined formation topology. information, complete the cooperative obstacle avoidance of UAVs, and carry out optimal control of communication topology to support the completion of the designated tasks of the cluster. [0003] The formation configuration and group topology changes of heterogeneous UAV swarms have an important impact on the completion of swarm tasks. The existing UAV topology control research is mainly aimed at th...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 席在杰赵政宁周睿秦萌曾勇余炎
Owner 四川腾盾科技有限公司
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