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Air-ground cluster cooperative networking control system and method based on consistency algorithm

A control system and cooperative group technology, applied in two-dimensional position/course control, etc., can solve the problems of being susceptible to interference, poor endurance of small aerial unmanned aerial vehicles, slow moving speed, etc., and achieve the effect of high safety

Pending Publication Date: 2022-07-29
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The air-ground coordination of drones / unmanned vehicles and other multi-machines has a very broad application prospect. It can solve the problems of ground robots, such as insufficient obstacle-surmounting ability, slow moving speed, small detection range, and the endurance of small aerial unmanned aerial vehicles. Poor, susceptible to interference, insufficient continuous detection capabilities, etc.
However, the relevant theoretical research and practical application are still very limited, and the degree of organic unity is not sufficient.

Method used

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  • Air-ground cluster cooperative networking control system and method based on consistency algorithm
  • Air-ground cluster cooperative networking control system and method based on consistency algorithm
  • Air-ground cluster cooperative networking control system and method based on consistency algorithm

Examples

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Effect test

example 1

[0075] Example 1: After building the entire system, verify the dynamic assignment algorithm of the unmanned vehicle in the multi-agent subsystem. like Figure 5 As shown in the figure, the role dynamic allocation algorithm used by this multi-agent subsystem has achieved good results: from the figure, we can first see the difference between different robots through the recognition ball on the acrylic plate on the omnidirectional mobile robot, which are No. 1, No. 2, No. 3. In the initial formation state, robot No. 1 is in the front, and robots No. 2 and 3 are in the rear respectively. When Robot 1 is placed behind Robot 3, it will form a formation with Robot 3 in front and Robots 1 and 2 behind.

example 2

[0076]Example 2: On the basis of the position and attitude control of the UAV and the cooperative control of multiple unmanned vehicles, the present invention has carried out the formation experiment verification of the coordinated control of the UAV and the unmanned vehicle. Among them, the control model of the UAV predicts the control algorithm, and the unmanned vehicle adds the leader information based on the first-order consistency algorithm. One UAV acts as the leader and the other UAV acts as the follower. Five ground mobile robots act as followers. Followers take the leader as the center, form a fixed formation, and maintain the formation in the process of following the leader. At the same time, based on the Hungarian algorithm, the multi-objective dynamic role assignment task is realized, so that the followers can choose their own formation positions at the minimum cost, so as to maintain the stability of the formation. The method based on artificial potential energy ...

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Abstract

The invention belongs to the technical field of cooperative cluster control of various heterogeneous unmanned aerial vehicles such as unmanned aerial vehicles / unmanned vehicles, and particularly relates to an air-ground cluster cooperative networking control system and method based on a consistency algorithm. The system and the method are based on a model prediction control algorithm, an artificial potential energy field obstacle avoidance algorithm and a consistency cooperative formation algorithm, can realize autonomous positioning and obstacle avoidance functions of an intelligent agent, and complete a cooperative patrol task. According to the invention, the enemy target can be captured through the motion capture system, not only can the flexibility of the unmanned vehicle be utilized to complete the satellite surrounding type hunting task with the enemy as the center, but also the wide view field of the unmanned aerial vehicle and the high maneuverability of the unmanned vehicle can be utilized as the basis to complete the purpose that the unmanned aerial vehicle transmits the searched target to the unmanned vehicle. And the unmanned vehicle receives the enemy target and carries out the detection and hunting task of hunting.

Description

technical field [0001] The invention belongs to the technical field of coordinated cluster control of various heterogeneous UAVs such as unmanned aerial vehicles / unmanned vehicles, and particularly relates to an air-ground cluster collaborative networking control system and method based on a consensus algorithm. Background technique [0002] The air-ground coordination of drones / unmanned vehicles has a very broad application prospect. It can solve the problem of insufficient obstacle-surmounting ability, slow moving speed, small detection range and the endurance of small unmanned aerial vehicles to the greatest extent. Poor, vulnerable to interference, lack of continuous detection capabilities and other shortcomings. However, the relevant theoretical research and practical application are still very limited, and the degree of organic unity is not sufficient. [0003] In foreign countries, the STORK project in the United States is to use the drone as a communication relay to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0225G05D1/0214G05D1/0221G05D1/0278G05D1/0276
Inventor 夏元清余锋戴荔霍达王泰祺
Owner BEIJING INSTITUTE OF TECHNOLOGYGY