Unmanned aerial vehicle swarm flocking control method based on hierarchical containment control theory

CN117270572BActive Publication Date: 2026-11-03NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Application Number
CN202311507031.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-11-13
Publication Date
2026-11-03
Estimated Expiration
2043-11-13

AI Technical Summary

Technical Problem

Existing technologies lack a clear design for key subnet drone nodes in communication-constrained scenarios, leading to reduced information transmission efficiency. Furthermore, the lack of connectivity maintenance strategies in large-scale drone swarms may result in swarm splits or loss of target tracking, and direct virtual leader feedback control is costly.

Method used

By adopting the hierarchical control theory, the drone swarm is divided into connected sub-swarms. Key drone nodes are selected as initial information drones. By transmitting the speed and position feedback of the virtual leader in a hierarchical manner, hierarchical control of the drone sub-swarms is achieved, ensuring that the information drones directly transmit the information to the next layer of ordinary drones.

Benefits of technology

It improves the tracking capabilities and information transmission efficiency of drone swarms, avoids swarm splitting, and enhances the effectiveness and stability of swarm control in large-scale drone swarms.

✦ Generated by Eureka AI based on patent content.

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Abstract

The application discloses a kind of based on hierarchical containment control theory's unmanned aerial vehicle cluster swarming control method, comprising: the unmanned aerial vehicle cluster is divided into connected unmanned aerial vehicle sub-cluster;The influence degree value of each unmanned aerial vehicle in sub-cluster is calculated, and according to all influence degree values, initial information unmanned aerial vehicle is selected, and other unmanned aerial vehicles as ordinary unmanned aerial vehicle except initial information unmanned aerial vehicle;Initial information unmanned aerial vehicle receives the speed position feedback that virtual leader exerts to it and calculates its control input information according to the state information of other unmanned aerial vehicles in its neighborhood, and its state information is directly transmitted to next layer ordinary unmanned aerial vehicle;The ordinary unmanned aerial vehicle is used as intermediate information unmanned aerial vehicle, and its control input information is calculated according to the state information of other unmanned aerial vehicles in its neighborhood, and its state information is directly transmitted to next layer ordinary unmanned aerial vehicle;The ordinary unmanned aerial vehicle is updated to intermediate information unmanned aerial vehicle, and the communication process of above-mentioned intermediate information unmanned aerial vehicle is executed.The application is suitable for large-scale unmanned aerial vehicle cluster swarming control.
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