A collision-free space parameterized formation configuration sequence planning method

By adjusting the formation configuration parameters through linear interpolation and global optimization algorithms, a collision-free formation configuration sequence is generated, which solves the problem that parametric formation configuration planning in existing technologies cannot adapt to complex obstacle environments, and realizes safe formation movement and task execution of large-scale clusters.

CN117055620BActive Publication Date: 2026-07-03NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Application Number
CN202311149009.4
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-09-06
Publication Date
2026-07-03
Estimated Expiration
2043-09-06

AI Technical Summary

Technical Problem

Existing parametric formation planning cannot adjust relevant parameters in a timely manner in complex obstacle environments, cannot flexibly adjust the shape of the target formation to avoid obstacles, and is computationally complex, making it difficult to apply to formation reconstruction or migration of large-scale clusters.

Method used

Intermediate target formation configuration parameters are constructed by linear interpolation. Combined with the target formation configuration model and constraints, the formation configuration parameters are adjusted using a global optimization algorithm to generate a collision-free formation configuration sequence, ensuring formation shape continuity and obstacle avoidance.

Benefits of technology

It enables flexible adjustment of formation configuration in complex obstacle environments, is suitable for formation reconstruction or migration of large-scale clusters, and ensures the safety of formation movement and the effectiveness of mission execution.

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Abstract

The application discloses a collision-free space parameterized formation configuration sequence planning method, and belongs to the technical field of intelligent agent / unmanned aerial vehicle / spacecraft cluster motion control, and the method comprises the following steps: according to initial target formation configuration parameters and final target formation configuration parameters, a plurality of intermediate target formation configuration parameters are constructed through linear interpolation; the initial target formation configuration parameters, the intermediate target formation configuration parameters and the final target formation configuration parameters are input into a target formation configuration model, and then the target formation configuration model determines individual target positions at each moment according to the number of cluster individuals; whether the individual target positions at each moment meet constraint conditions is detected in sequence, if the constraint conditions are met, then according to the corresponding intermediate target formation configuration parameters and the target formation configuration model, the intermediate target formation configuration at each moment is directly generated; and according to the directly generated intermediate target formation configuration at each moment, the collision-free space parameterized formation configuration sequence planning is completed. According to the method, related parameters can be adjusted in time according to a complex obstacle environment, and the target formation configuration shape can be flexibly adjusted to avoid obstacles.
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