A multi-UAV self-organizing collaborative system and method

Abstract

The present invention discloses a multi-UAV self-organizing collaborative system and method, which realizes the communication networking and high-precision positioning of multiple UAVs through a differential satellite positioning system and Wi-Fi wireless communication technology, and designs a self-organizing collaborative control method with multiple functions such as autonomous interactive object selection, individual spacing maintenance, obstacle avoidance, target tracking, and viewpoint synthesis, thereby realizing autonomous communication and distributed autonomous control of multiple UAVs, and being able to provide a system solution for large-scale UAV self-organizing collaboration.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot navigation and control, and in particular relates to a multi-UAV self-organizing collaborative system and method. Background Art

[0002] Due to the limited intelligence level of drones, a single drone is difficult to adapt to complex and changing mission environments. Compared with a single drone, multiple drones have many advantages in mission execution after coordination. For example, multiple drones have better system compatibility and fault tolerance, better mission load scalability, and distributed perception and control. These advantages can combine the power of a single drone into a whole, improve the overall mission execution capability of multiple drones, and complete tasks that are difficult to complete with a single drone. At the same time, through reasonable arrangement and coordination, the high mission load cost can be dispersed to different drones, thereby reducing the overall hardware cost. Therefore, the reasonable use of multiple drones can not only improve the overall operating efficiency of the system, but also reduce the cost of the system and bring higher economic benefits. However, there are still certain limitations in the current autonomous coordination method of multiple drones. How to achieve more autonomous and intelligent autonomous coordination of multiple drones is a technical difficulty that needs to be solved urgently. By breaking through this difficulty, multi-drone collaborative tasks will be more widely used, thus making practical contributions to social development. Summary of the invention

[0003] In view of this, the present invention provides a multi-UAV self-organizing collaboration system and method, which can realize autonomous communication and distributed autonomous control of multiple UAVs, and provide a system solution for large-scale UAV self-organizing collaboration.

[0004] The technical solution for implementing the present invention is as follows:

[0005] A multi-UAV self-organizing collaborative system, including 3 or more UAVs, a communication base station, and a positioning base station;

[0006] Each drone includes a drone autopilot, a remote controller, a differential satellite navigation device, a communication module, and an onboard computer;

[0007] A local area network is established on site through the communication base station, and the UAV can realize wireless communication among multiple UAVs within the signal coverage of the communication base station;

[0008] The positioning base station broadcasts satellite differential correction data to multiple drones, and the differential satellite navigation device receives the broadcast data of the positioning base station and then calculates high-precision satellite positioning information;

[0009] The differential satellite navigation device is used to receive satellite differential correction data broadcast by the positioning base station, so as to obtain high-precision positioning and orientation information of the UAV;

[0010] The UAV autopilot is used to receive the high-precision positioning and orientation information of the differential satellite navigation device, collect inertial navigation sensor data, complete the navigation information solution and flight control of the UAV, receive control instructions from the onboard computer and control instructions sent by the operator through the remote control to complete corresponding flight actions.

[0011] Furthermore, the onboard computer is used for:

[0012] 1) Read the operator's control instructions and the drone's own high-precision positioning information from the drone's autopilot;

[0013] 2) Receive information sent by other drones within the communication range from the communication module;

[0014] 3) Send its own high-precision positioning data and speed data to the communication module, and the communication module broadcasts these data;

[0015] 4) Run the multi-UAV self-organizing collaborative method, calculate the control instructions of the UAV, and send the instructions to the UAV autopilot.

[0016] Furthermore, the drones are numbered 1, 2, 3, ... in sequence, the drone numbered i includes: drone autopilot i, remote control i, differential satellite navigation device i, communication module i, and airborne computer i; the drone numbered j includes: drone autopilot j, remote control j, differential satellite navigation device j, communication module j, and airborne computer j; the drone autopilot is respectively connected to the remote control, the airborne computer, and the differential satellite navigation device, and the airborne computer is respectively connected to the drone autopilot and the communication module.

[0017] A multi-UAV self-organizing coordination method is used for distributed autonomous control of multiple UAVs. The states of multiple UAVs are ultimately converged by having each UAV simultaneously run the same self-organizing coordination method.

[0018] Furthermore, the method specifically comprises the following steps:

[0019] Step 1: Record the drone data broadcast by all other drones within the communication range of the current drone i. The drone data includes: drone number j, satellite positioning data p j , speed data v j, based on the collected data, the first N drones whose state distance is closest to drone i are determined as neighbors. The state distance is the relative distance or relative speed between two drones (or a linear combination of the relative distance and relative speed between two drones, or the relative speed when the relative distance between two drones is less than a certain value). The set of neighbors is N i The drone data of said neighbor will be retained, and the other drone data collected will be discarded;

[0020] Step 2: Calculate the control command component v for maintaining the distance between drones based on the neighbor’s drone data i,rep , the calculation method is as follows:

[0021]

[0022] Among them, v ij,rep is the control command component used to maintain the distance between UAV i and UAV j, K is the command gain, and f adp (x) is an adaptive gain function, including but not limited to the form: f adp (x)=x,f adp (x)=1 / x,f adp Function where (x) = x + a / x;

[0023] Step 3: The onboard computer obtains the control command component v generated by the control module in the onboard computer of other drones i,d ,These control modules include but are not limited to control instruction components generated by relevant control modules for achieving obstacle avoidance and target tracking;

[0024] Step 4: Set the control command component v used to maintain the distance between the drones i,rep The control command component v generated by other control modules i,d , and the speed data of other drones in the neighborhood are processed as follows to obtain the final drone control instruction v i,ali :

[0025]

[0026] Among them, α is the self-organizing factor, v rand is the velocity vector generated by the random number generator, and σ is the random velocity amplitude.

[0027] Beneficial effects:

[0028] (1) The present invention provides a multi-UAV self-organizing coordination method, which can realize the autonomous coordination of multiple UAVs without or with only a small amount of human intervention;

[0029] (2) The present invention provides a multi-UAV self-organizing collaborative system, which provides a practical and low-cost collaborative system solution;

[0030] (3) The multi-UAV self-organizing collaborative method provided by the present invention has a relatively low computational cost and does not require a large onboard computer, which can save the power consumption of the UAV and thus increase the flight time and mission payload of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a structural block diagram of a multi-UAV self-organizing collaborative system provided in Example 1 of the present invention.

[0032] Figure 2 This is a flow chart of a multi-UAV self-organizing collaboration method provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0033] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0034] Implementation Example 1:

[0035] The implementation example of the present invention provides a multi-UAV self-organizing collaborative system and method, which realizes the communication networking and high-precision positioning of multiple UAVs through a differential satellite positioning system and WiFi wireless communication technology, and designs a self-organizing collaborative control method with multiple functions such as autonomous interactive object selection, individual spacing maintenance, obstacle avoidance, target tracking, and viewpoint synthesis, thereby realizing autonomous communication and distributed autonomous control of multiple UAVs, and being able to provide a system solution for large-scale UAV self-organizing collaboration.

[0036] like Figure 1 As shown, the multi-UAV self-organizing collaborative system includes 3 or more UAVs, a communication base station, and a positioning base station;

[0037] The drones are numbered 1, 2, 3, ... in sequence, wherein each drone includes the same equipment, for example, the drone numbered i includes: drone autopilot i, remote control i, differential satellite navigation device i, communication module i, and airborne computer i; the drone numbered j includes: drone autopilot j, remote control j, differential satellite navigation device j, communication module j, and airborne computer j; the drone autopilot is respectively connected to the remote control, the airborne computer, and the differential satellite navigation device, and the airborne computer is respectively connected to the drone autopilot and the communication module.

[0038] A local area network is established on site through the communication base station, and the UAV can realize wireless communication among multiple UAVs within the signal coverage of the communication base station;

[0039] The positioning base station broadcasts satellite differential correction data to multiple drones, and the differential satellite navigation device receives the broadcast data of the positioning base station and then calculates high-precision satellite positioning information;

[0040] The differential satellite navigation device is used to receive satellite differential correction data broadcast by the positioning base station, so as to obtain high-precision positioning and orientation information of the UAV;

[0041] The UAV autopilot is used to receive the high-precision positioning and orientation information of the differential satellite navigation device, collect inertial navigation sensor data, complete the navigation information solution and flight control of the UAV, receive control instructions from the onboard computer and control instructions sent by the operator through the remote control to complete corresponding flight actions.

[0042] The onboard computer is used to:

[0043] 1) Read the operator's control instructions and the drone's own high-precision positioning information from the drone's autopilot;

[0044] 2) Receive information sent by other drones within the communication range from the communication module;

[0045] 3) Send its own high-precision positioning data and speed data to the communication module, and the communication module broadcasts these data;

[0046] 4) Run the multi-UAV self-organizing collaborative method, calculate the control instructions of the UAV, and send the instructions to the UAV autopilot.

[0047] like Figure 2 As shown, the multi-UAV self-organizing coordination method is used for distributed autonomous control of multiple UAVs, and each UAV runs the same self-organizing coordination method at the same time to finally achieve the state convergence of multiple UAVs. Specifically, it includes the following steps:

[0048] Step 1: Record the drone data broadcast by all other drones within the communication range of the current drone i. The drone data includes: drone number j, satellite positioning data p j , speed data v j According to the collected data, the first N drones whose state distance is closest to drone i are determined as neighbors. The state distance is the relative distance or relative speed between two drones (or a linear combination of the relative distance and relative speed between two drones, or the relative speed when the relative distance between two drones is less than a certain value). The set of neighbors is N i The drone data of said neighbor will be retained, and the other drone data collected will be discarded;

[0049] Step 2: Calculate the control command component v for maintaining the distance between drones based on the neighbor’s drone data i,rep , the calculation method is as follows:

[0050]

[0051] Among them, v ij,rep is the control command component used to maintain the distance between UAV i and UAV j, K is the command gain, and f adp (x) is an adaptive gain function, including but not limited to the form: f adp (x)=x,f adp (x)=1 / x,f adp Function where (x) = x + a / x;

[0052] Step 3: The onboard computer obtains the control command component v generated by the control module in the onboard computer of other drones i,d ,These control modules include but are not limited to control instruction components generated by relevant control modules for achieving obstacle avoidance and target tracking;

[0053] Step 4: Set the control command component v used to maintain the distance between the drones i,rep The control command component v generated by other control modules i,d , and the speed data of other drones in the neighborhood are processed as follows to obtain the final drone control instruction v i,ali :

[0054]

[0055] Among them, α is the self-organizing factor, v rand is the velocity vector generated by the random number generator, and σ is the random velocity amplitude.

[0056] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-UAV self-organizing coordination method, the method is applied to a multi-UAV self-organizing coordination system, the system includes 3 or more UAVs, a communication base station, and a positioning base station; Each drone includes a drone autopilot, a remote controller, a differential satellite navigation device, a communication module, and an onboard computer; A local area network is established on site through the communication base station, and the UAV can realize wireless communication among multiple UAVs within the signal coverage of the communication base station; The positioning base station broadcasts satellite differential correction data to multiple drones, and the differential satellite navigation device receives the broadcast data of the positioning base station and then calculates high-precision satellite positioning information; The differential satellite navigation device is used to receive satellite differential correction data broadcast by the positioning base station, so as to obtain high-precision positioning and orientation information of the UAV; The UAV autopilot is used to receive the high-precision positioning and orientation information of the differential satellite navigation device, collect the data of the inertial navigation sensor, complete the navigation information solution of the UAV, flight control, receive the control instructions of the onboard computer and the control instructions sent by the operator through the remote control to complete the corresponding flight action; The onboard computer is used to: 1) Read the operator's control instructions and the drone's own high-precision positioning information from the drone's autopilot; 2) Receive information sent by other drones within the communication range from the communication module; 3) Send its own high-precision positioning data and speed data to the communication module, and the communication module broadcasts these data; 4) Run the multi-UAV self-organizing collaborative method, calculate the control instructions of the UAV, and send the instructions to the UAV autopilot; The drones are numbered 1, 2, 3, ... in sequence. The drone numbered i includes: drone autopilot i, remote controller i, differential satellite navigation device i, communication module i, and airborne computer i; the drone numbered j includes: drone autopilot j, remote controller j, differential satellite navigation device j, communication module j, and airborne computer j; the drone autopilot is connected to the remote controller, the airborne computer, and the differential satellite navigation device respectively, and the airborne computer is connected to the drone autopilot and the communication module respectively; The invention is characterized in that it is used for distributed autonomous control of multiple UAVs, and each UAV runs the same self-organizing collaborative method at the same time to finally achieve the state convergence of multiple UAVs; specifically, it includes the following steps: Step 1: Record the drone data broadcast by all other drones within the communication range of the current drone i. The drone data includes: drone number j, satellite positioning data p j , speed data v j , based on the collected data, determine the first N drones whose state distance is closest to drone i as neighbors, the state distance is the relative distance or relative speed between two drones, or the linear combination of the relative distance and relative speed between two drones, or the relative speed when the relative distance between two drones is less than a certain value. The set of neighbors is N i The drone data of said neighbor will be retained, and the other drone data collected will be discarded; Step 2: Calculate the control command component v for maintaining the distance between drones based on the neighbor’s drone data i,rep , the calculation method is as follows: Among them, v ij,rep is the control command component used to maintain the distance between UAV i and UAV j, K is the command gain, and f adp (x) is the adaptive gain function, including: f adp (x)=x,f adp (x) = 1 / x, f adp Function where (x) = x + a / x; Step 3: The onboard computer obtains the control command component v generated by the control module in the onboard computer of other drones i,d ,These control modules include control instruction components generated by relevant control modules for achieving obstacle avoidance and target tracking; Step 4: Set the control command component v used to maintain the distance between the drones i,rep The control command component v generated by other control modules i,d , and the speed data of other drones in the neighborhood are processed as follows to obtain the final drone control instruction v i,ali : Among them, α is the self-organizing factor, v rand is the velocity vector generated by the random number generator, and σ is the random velocity amplitude.

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