Unmanned aerial vehicle cluster online cooperative safety avoidance method, system, device and medium

Abstract

The application discloses a kind of unmanned aerial vehicle cluster online cooperative safety avoidance method, system, device and medium, belong to multiple unmanned aerial vehicle cooperative control technical field.The method includes: judging whether there is first unmanned aerial vehicle in unmanned aerial vehicle cluster, conflict exists between with external unmanned aerial vehicle, if there is, execute the following steps;For the second / third unmanned aerial vehicle in unmanned aerial vehicle cluster that does not directly conflict with external unmanned aerial vehicle, pre-maneuver strategy is used;For the direct conflict between first unmanned aerial vehicle and external unmanned aerial vehicle, adjust using preset rule;For the adjacent second unmanned aerial vehicle in unmanned aerial vehicle cluster, adjust using cooperative conflict resolution strategy.The application determines the pre-maneuver strategy of each unmanned aerial vehicle in unmanned aerial vehicle cluster according to the state of virtual unmanned aerial vehicle, so that the cooperative maneuver of unmanned aerial vehicle can ensure that the cluster can take consistent avoidance maneuver, thereby pre-clearing maneuver space for unmanned aerial vehicle in cluster that directly conflicts with unmanned aerial vehicle.

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