Anti-collision method and system for fixed-wing cluster UAVs based on multi-element game
Through multi-element game decision-making, the anti-collision strategy is formed, which solves the problems of incomplete situation and short anti-collision time in traditional methods, improves the anti-collision control capabilities of fixed-wing cluster drones, and ensures flight safety and stability.
Patent Information
- Application Number
- CN202411148051.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-21
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2044-08-21
AI Technical Summary
Traditional fixed-wing cluster drone anti-collision control methods lead to additional risks caused by incomplete situations, short collision avoidance time, and route deviation in complex environments.
Using a collision avoidance method based on multi-element game, through role selection and positioning and directional analysis, a fixed-wing drone cluster with long-aircraft and wingman structure is constructed, and the collision avoidance elements of speed and angle are calculated, and a collision avoidance strategy is formed through game decisions. Ensure that each aircraft calculates the global situation according to the objects it needs to avoid, obtains a variety of anti-collision avoidance elements, performs update methods to make game decisions for all anti-collision elements, and obtains the final anti-collision avoidance strategy.
It realizes the adaptation of the cluster control mode, and performs different anti-collision strategies for different control roles, and quickly, effectively and stably handles and situational awareness, reducing the risks caused by short collision time and route deviation, and improving the fixed wing Anti-collision control capabilities of cluster drones.
Smart Images
Figure CN118672304B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned aerial vehicle cluster flight control, and more specifically, to a fixed-wing unmanned aerial vehicle cluster anti-collision method and system based on multi-element game. Background Art
[0002] In recent years, due to the iteration of hardware, the vigorous development of distributed systems and networking communication technologies, swarm drones have also been applied to military and civilian fields such as industry, flight performances, and signal transmission. The gradually improved flight control system allows swarm drones to perform more complex and difficult tasks in more complex environments and more variable constraints. Among them, rotary-wing drones are relatively easy to control because of their hovering ability, slow flight speed, and slow environmental changes. However, fixed-wing drones have higher load capacity, longer flight time, larger range of activities, and faster flight speeds, making them quite advantageous in mission environments with high real-time requirements, wide coverage requirements, and complex environments, such as target search and rescue, security and defense.
[0003] But the problem that follows is that in complex mission environments, multiple groups of drones are often required to work together to complete the same mission. Under such conditions, the use of traditional collision avoidance control without role distribution or for local areas often leads to problems such as the aircraft's collision avoidance control time being too short and the efficiency being reduced, environmental hazards caused by the deviation and divergence of the long aircraft's route due to collision avoidance, and reduced regional coverage capabilities. Summary of the invention
[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a fixed-wing cluster drone anti-collision method and system based on multi-element game, which solves the problems of incomplete situation, short anti-collision time and additional risks caused by route deviation in traditional methods.
[0005] The object of the present invention is achieved through the following solutions:
[0006] A fixed-wing cluster UAV anti-collision method based on multi-element game, comprising the following steps:
[0007] Step 1: Role selection and positioning analysis: The UAV collision avoidance is positioned according to the different roles of the leader and wingman, and a fixed-wing UAV cluster with a leader and wingman structure is constructed;
[0008] Step 2: Perform the following anti-collision item calculation sub-steps on the lead terminal:
[0009] S2A, the lead aircraft calculated speed anti-collision offset element;
[0010] S3A, the lead aircraft calculates the roll angle to control the collision avoidance elements;
[0011] S4A uses the anti-collision elements calculated by the lead aircraft to make game decisions on speed and angle updates to form a lead aircraft anti-collision strategy;
[0012] The following collision avoidance calculation sub-steps are performed on the wingman:
[0013] S2B, the wingman calculates the collision mode and defines the collision avoidance direction;
[0014] S3B, the wingman calculates control collision avoidance elements for future roll angles;
[0015] S4B, the wingman calculates and controls the collision avoidance elements for the current roll angle;
[0016] S5B, uses the collision avoidance elements calculated by the wingman to make game decisions on angle updates and form a wingman collision avoidance strategy.
[0017] Furthermore, in step one, the leader aircraft does not actively avoid the wingman aircraft, but the wingman aircraft performs collision avoidance on all the leader aircraft and wingman aircraft.
[0018] Further, in step S2A, the lead aircraft calculates a speed collision avoidance offset element, which specifically includes the following sub-steps: for the formation lead aircraft whose roles are positioned at the same level, the own aircraft performs collision avoidance control; at the same time, speed collision avoidance and angle collision avoidance are adopted between the lead aircraft, wherein the speed collision avoidance is triggered at a set distance, and once it is determined that the own aircraft and another lead aircraft will approach each other after the set distance, the own aircraft will calculate and trigger the inhibition element of the collision avoidance state speed.
[0019] Further, in step S3A, the lead aircraft calculates the roll angle to control the anti-collision element, which specifically includes the sub-steps of: when the progression reaches the set degree, emergency anti-collision treatment is performed through angle anti-collision, and at this time, the calculated roll angle anti-collision element between the lead aircraft is used for emergency anti-collision treatment.
[0020] Further, in step S4A, the anti-collision elements calculated by the lead aircraft are used to make game decisions on speed and angle update to form a lead aircraft anti-collision strategy, which specifically includes the following sub-steps: each lead aircraft will provide at most two anti-collision elements to the aircraft itself. Assuming there are N formations, the anti-collision elements received by the aircraft at most will be 2*(N-1). Through these elements, the aircraft will perform anti-collision element game through the update formula to form the final lead aircraft anti-collision strategy.
[0021] Further, in step S2B, the wingman calculates the collision mode and defines the collision avoidance direction, which specifically includes sub-steps: before the two drones avoid collision, the collision mode and avoidance direction are first determined according to the speed directions and relative position directions of the two drones. There are three collision modes, namely, collision mode, side collision mode and pursuit mode; among them, when the track angle deviation exceeds the set angle value and the collision point occurs within the circle, it is the collision mode, and the conflict is resolved by avoiding in the same direction; when the track angle deviation is less than the set angle value and the collision point is on both sides of the position line, it is the side collision mode, and the conflict is resolved by avoiding in opposite directions; when the track angle deviation is less than the set angle value and the collision point is on the extension of the position line, it is the pursuit mode, and the conflict is resolved by avoiding in opposite directions; the set angle value includes 90°.
[0022] Furthermore, in step S3B, the wingman calculates the anti-collision element for future roll angle control, which specifically includes the following sub-steps: for the wingman, a motion model based on uniform linear motion is constructed for all targets to determine whether there are aircraft that may gradually enter the anti-collision range of the aircraft at the future time t; if such an aircraft appears, the aircraft will determine the obstacle avoidance method through step S2B, and construct the future roll angle control item for anti-collision through the corresponding anti-collision item control function.
[0023] Further, in step S4B, the wingman calculates the anti-collision element for the current roll angle control, which specifically includes sub-steps: the wingman counts the current distance, calculates the distance between the aircraft and other UAVs, and finally obtains the anti-collision control item for the current angle.
[0024] Further, in step S5B, the game decision of updating the angle using the anti-collision elements calculated by the wingman is formed to form a wingman anti-collision strategy, which specifically includes the following sub-steps: each wingman will provide at most two anti-collision elements to the local aircraft. Assuming that there are a total of N drones in the network, the local aircraft will receive at most 2*(N-1) anti-collision elements. Through these elements, the local aircraft will perform anti-collision element game through the update formula to form the final wingman anti-collision strategy.
[0025] A fixed-wing cluster UAV collision avoidance system based on multi-element game includes a computer device, which includes a processor and a memory. The memory stores a computer program. When the computer program is loaded by the processor, any method described above is executed.
[0026] The beneficial effects of the present invention include:
[0027] The method of the present invention is designed to adapt to the mode of cluster control and implement different anti-collision strategies for different roles. Each aircraft calculates the global situation corresponding to each object it needs to avoid, and obtains multiple anti-collision avoidance elements. Through updating means, all anti-collision elements make game decisions to obtain the final anti-collision avoidance strategy, thereby solving the problems of incomplete situation, short anti-collision time, and additional risks caused by route deviation in traditional methods.
[0028] The method of the present invention aims at different control roles of flight control, comprehensively considers the current position vector of the aircraft, the velocity vector of the aircraft, the position vector of the other aircraft, the velocity vector of the other aircraft, the movement time, the distance and other parameters, and constructs multiple anti-collision control elements for the lead aircraft and the wingman, including the lead aircraft speed adjustment element, the lead aircraft direction adjustment element, the wingman direction adjustment element, and the wingman roll angle adjustment element, and then obtains the control decision for the current aircraft through the calculation game between the anti-collision elements. Through the composite consideration of mathematical logic and multiple elements, the global impact is assigned to each fixed-wing cluster UAV in the collision avoidance state to be controlled, which can quickly, effectively and stably support the global situation processing and situation awareness of the aircraft, and form an effective fixed-wing cluster UAV anti-collision control method with relatively low processing delay in engineering applications. In this way, the pain point problem of expected damage caused by collisions between aircrafts due to the environment, communication, aircraft damage and other reasons in the large-scale flight performances represented by dynamic light shows, large-scale UAV low-altitude search and rescue, etc. in the coordinated flight of large quantities of UAVs can be solved. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0030] Figure 1 A flowchart of a method for preventing collision of fixed-wing swarm drones based on multi-element game in an embodiment of the present invention is provided;
[0031] Figure 2 A schematic diagram of the anti-collision relationship between a leader and a wingman in a scenario demonstration of an embodiment of the present invention;
[0032] Figure 3 A schematic diagram of calculation of the speed collision avoidance element of the long aircraft established for the scenario of the embodiment of the present invention;
[0033] Figure 4 A schematic diagram of calculating the angle collision avoidance element of the long aircraft established for the scenario of the embodiment of the present invention;
[0034] Figure 5a A schematic diagram of the anti-collision elements and game calculations of a large-angle circle of a drone established for the scenario of an embodiment of the present invention;
[0035] Figure 5b A schematic diagram of the UAV small-angle close-range circle collision avoidance elements and game calculation established for the scenario of the embodiment of the present invention;
[0036] Figure 5c A schematic diagram of the UAV small-angle long-distance circle collision avoidance and game calculation established for the scenario of the embodiment of the present invention;
[0037] Figure 6 A schematic diagram of the collision mode, judgment and handling method established for the scenario of the embodiment of the present invention;
[0038] Figure 7 A schematic diagram of a collision time correlation function for calculating and predicting future angle collision avoidance elements in a scenario according to an embodiment of the present invention;
[0039] Figure 8 It is a schematic diagram of the function related to the calculation of the anti-collision element at the current angle and the current distance between machines in the scene of the embodiment of the present invention. DETAILED DESCRIPTION
[0040] All features disclosed in all embodiments in this specification, or steps in all methods or processes implicitly disclosed, except for mutually exclusive features and / or steps, can be combined and / or expanded or replaced in any manner.
[0041] The specific implementation process of the embodiment of the present invention is as follows:
[0042] In a specific embodiment, a fixed-wing cluster UAV anti-collision method based on multi-element game is provided, such as Figure 1 As shown, the specific steps include:
[0043] Step 1: Role selection and positioning analysis; locate the UAV collision avoidance according to the different roles of the leader and wingman, and build a fixed-wing UAV cluster with a leader and wingman structure.
[0044] Step 2: Perform the following anti-collision item calculation sub-steps on the lead terminal:
[0045] S2A, the lead aircraft calculates a speed collision avoidance offset element. In a specific implementation, the lead aircraft calculates a position vector and its own speed vector for each lead aircraft in the other formation to obtain a speed collision avoidance offset element.
[0046] S3A, rolling angle control anti-collision element; in a specific implementation, the lead aircraft calculates the rolling angle control anti-collision element by distance and linearly related speed anti-collision element;
[0047] S4A, using the anti-collision elements calculated by the lead aircraft to make a game decision on speed and angle update, and form a collision avoidance strategy for the lead aircraft; in a specific implementation, all the lead aircraft observed by the anti-collision lead aircraft obtain all elements to make a game decision on speed and angle update, and form a collision avoidance strategy for the lead aircraft;
[0048] The following collision avoidance calculation sub-steps are performed on the wingman:
[0049] S2B, collision mode defines the collision avoidance direction; in a specific implementation, the wingman defines the collision avoidance direction by calculating the collision mode for all aircraft in the network;
[0050] S3B, a roll angle control anti-collision element for the future; in a specific implementation, the wingman defines a roll angle control anti-collision element for the future by calculating the distance and collision time at the future moment;
[0051] S4B, controlling the anti-collision element for the current roll angle; in a specific implementation, the wingman controls the anti-collision element for the current roll angle by calculating the distance definition at the current moment;
[0052] S5B, using the anti-collision elements calculated by the wingman to make a game decision on angle update to form a wingman anti-collision strategy; in a specific implementation manner, the wingman forms a wingman anti-collision strategy by making a game decision on the updated value of the roll angle for all anti-collision roll angle elements.
[0053] like Figure 2 As shown, in step 1, the UAV collision avoidance is positioned according to the different roles of the lead aircraft and the wingman, and the flight parameters of the aircraft and the other aircraft transmitted in the network are solved to calculate the velocity vector and the flight distance between the aircraft. It should be noted that Figure 2 The dashed box is only used to indicate that the area inside the box is a wingman.
[0054] Role classification: For the leader, it needs to fly as close to the route as possible to avoid deviation from the route due to collision avoidance, which leads to divergence of flight accuracy. Therefore, it does not need to actively avoid the wingman, and the wingman needs to pay a greater deflection to actively avoid collision with the leader. The wingman needs to avoid collisions with all the leaders and other wingmen to avoid collisions caused by the leader's failure to avoid collisions with the wingman. However, in order to achieve mid- and long-range avoidance effects, the wingman's collision avoidance will estimate future movements to generate two collision avoidance elements, future and present.
[0055] Flight parameter calculation: Fixed-wing drones need to obtain their own flight parameters through control rates and onboard sensors, which are used to calculate their own velocity vector and distance from other aircraft in subsequent steps. Specifically, they include their own flight altitude, speed, acceleration, heading angle, roll angle, longitude and latitude.
[0056] like Figure 3 As shown, corresponding to step S2A, the speed collision avoidance item of the lead aircraft is calculated for the lead aircraft, and for the lead aircraft in step 1, the current formation lead aircraft is the local coordinate origin , another leader The location is , Long Position vector and own velocity vector When the angle is less than 90°, the machine needs to slow down. To adjust the speed direction, , the update formula is as follows
[0057]
[0058] Design and long distance between aircraft Linearly related speed collision avoidance term, when the distance exceeds the maximum distance No collision avoidance control is performed when the distance is less than the minimum distance The maximum capacity is used for adjustment, and the upper and lower limits of speed adjustment are Vc max and Vc min , the speed collision avoidance update formula is as follows:
[0059]
[0060] like Figure 4 As shown, corresponding to step S3A, the lead aircraft needs to calculate the roll angle calculation element of its own aircraft based on the future movement and current position of other lead aircraft:
[0061] Design and collision time for the case of small distance in the future The anti-collision control term is inversely proportional to represents the future roll angle control value, t min and t max Indicates the maximum and minimum time for triggering regulation in the future. The calculation formula is as follows:
[0062]
[0063] For the current moment when the distance is small, the design is the same as the distance squared Inversely proportional collision avoidance control , d min and d max Indicates the maximum and minimum distances of the current trigger control. The calculation formula is as follows:
[0064]
[0065] set up For drones for The collision avoidance direction for a single leader and Collision, for The anti-collision item is the maximum value of the two , the formula is as follows:
[0066]
[0067] Finally, a game decision needs to be made for the leader. In step S4A, the leader needs to perform game decision calculations for all elements calculated by the leader:
[0068] All aircraft with the current formation leader Distance less than The leader aircraft set of the formation is , for each drone in the set Calculate the anti-collision adjustment and sum it up to get the leader of the formation Speed control command , Sat represents the limited output, and its update formula is
[0069]
[0070] in, Indicates the speed control instruction of the leader i, It represents the anti-collision speed control instruction from the lead aircraft i to other aircraft j.
[0071] All with current leader The set of leading aircraft in the formation that may collide is , for each long machine in the set Calculate the anti-collision adjustment and sum it up to get the lead machine Anti-collision roll angle control command , Indicates the maximum limit of the roll angle that can be adjusted, where its update formula is:
[0072]
[0073] in, It represents the anti-collision roll angle control instruction from the lead aircraft i to other aircraft j.
[0074] like Figure 5a , Figure 5b and Figure 5c As shown, corresponding to step S2B, the wingman calculates the collision avoidance mode with the target aircraft to define the collision avoidance method: when two drones need to avoid collision, the collision mode and avoidance direction are first determined according to the speed direction and relative position direction of the two aircraft. There are three collision modes, namely, collision mode, side collision mode and pursuit mode.
[0075] Specifically, when the track angle deviation exceeds 90° and the collision point occurs within the circle, it is a collision mode and the conflict is resolved by avoiding in the same direction.
[0076] When the track angle deviation is less than 90° and the collision point is on both sides of the position line, it is a side collision mode and the conflict is resolved by avoiding in opposite directions.
[0077] When the track angle deviation is less than 90° and the collision point is on the extension of the position line, it is in pursuit mode and the conflict is resolved by avoiding the opponent in different directions.
[0078] like Figure 6 As shown, the collision avoidance item of the wingman is calculated, corresponding to steps S3B and S4B, the wingman calculates the collision avoidance mode with the target aircraft to define the collision avoidance method: in step S3B, for the wingman, it gives priority to avoiding most collision possibilities through long-range collision avoidance, that is, by constructing a motion model based on uniform linear motion for all targets, to determine whether there is an aircraft that may gradually enter the collision avoidance range of the aircraft in the future time t. If such an aircraft appears, the aircraft will determine the obstacle avoidance method through the solution in step S2B, and construct the future roll angle control item for collision avoidance through the corresponding collision avoidance item control function:
[0079] For the case where the distance in the future is small, the step design of S3B and the collision time are adopted The inversely proportional anti-collision control term is as follows
[0080]
[0081] in, Indicates the maximum limit of the roll angle that can be adjusted.
[0082] In step S4B, after calculating the future anti-collision item, the wingman also calculates the current distance and the distance between the wingman and other drones to avoid the situation where the long-distance anti-collision item is still gradually reached to a certain extent even if the long-distance anti-collision item is set. , and is used to calculate the one-to-one roll angle collision avoidance term, and finally obtain the current angle collision avoidance control term.
[0083] Specifically, for the case where the current distance is small, the design is similar to the distance squared. The inversely proportional anti-collision control term is as follows
[0084]
[0085] in, Indicates the distance between this machine and other drones. Indicates the maximum limit of the roll angle that can be adjusted.
[0086] The mathematical geometric relationship between the future collision avoidance time and the roll angle command value is as follows: Figure 7 As shown, the mathematical geometric relationship between the current distance and roll angle command value is as follows Figure 8 shown.
[0087] Finally, the wingman calculates its final anti-collision item through mathematical game as follows: In step S5B, for the wingman itself, this unit will calculate its own anti-collision elements for all other drones in each operating time cycle. In other words, each drone will provide at most two anti-collision elements to the local unit. Assuming that there are a total of N drones in the network, the local unit will receive at most 2*(N-1) anti-collision elements. Through these elements, the local unit will perform anti-collision element game by updating the formula to form the final anti-collision strategy.
[0088] Specifically, For drones for The collision avoidance direction for a single UAV and Collision, for The anti-collision term is the maximum value of the two, and the formula is as follows
[0089]
[0090] At this point, all fixed-wing swarm drones will perform collision avoidance estimates on each other during flight or in a simulation environment, forming a unique collision avoidance strategy for the aircraft, including angle collision avoidance or angle collision avoidance and speed collision avoidance for different roles. This method can significantly improve the control ability of fixed-wing swarm drones during flight. This method targets the high speed, large maneuvering radius, and transient changes in flight status of fixed-wing swarm drones, and has multiple collision avoidance mechanisms for long and short distances. The accuracy of its flight trajectory is significantly improved compared to obstacle avoidance without role definition, which can effectively increase the ability and level of fixed-wing swarm drones in complex search and rescue and security tasks, improve the autonomous decision-making ability and intelligence of drones, and ensure the flight safety and stability of fixed-wing swarm drones.
[0091] The specific implementation of the present invention is not limited to the above-mentioned methods. The above description is only the preferred embodiment of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. It is possible for those skilled in the art to make various obvious changes, adjustments and substitutions without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the principles and concepts of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims
1. A fixed-wing cluster UAV anti-collision method based on multi-element game, characterized in that: The following steps are involved: Step 1: Role selection and positioning analysis: The UAV collision avoidance is positioned according to the different roles of the leader and wingman, and a fixed-wing UAV cluster with a leader and wingman structure is constructed; Step 2: Perform the following anti-collision item calculation sub-steps on the lead terminal: S2A, the lead aircraft calculates the speed collision avoidance offset element. At this time, the lead aircraft calculates the inhibition factor of the speed in the speed direction and the reverse speed in the direction of triggering the collision avoidance state when performing collision avoidance; S3A, the lead aircraft calculates the roll angle to control the anti-collision element. The roll angle anti-collision element between the lead aircraft is calculated for emergency anti-collision disposal, and the lateral anti-collision is controlled by the roll angle; S4A uses the anti-collision elements calculated by the lead aircraft to make game decisions on speed and angle updates to form a lead aircraft anti-collision strategy; The following collision avoidance calculation sub-steps are performed on the wingman: S2B, the wingman calculates the collision mode and defines the collision avoidance direction. The wingman determines the collision mode and avoidance direction based on the speed direction and relative position direction of the two aircraft. S3B, the wingman calculates the future roll angle control collision avoidance element, and the wingman constructs the future roll angle control item for collision avoidance through the corresponding collision avoidance item control function, and controls the lateral collision avoidance through the roll angle; S4B, the wingman calculates the anti-collision element for the current roll angle control. The wingman constructs the current roll angle control item for anti-collision through the corresponding anti-collision item control function, and controls the lateral anti-collision through the roll angle; S5B, using the collision avoidance elements calculated by the wingman to make game decisions on angle updates and form a wingman collision avoidance strategy; In step S2B, the wingman calculates the collision mode and defines the collision avoidance direction, which specifically includes sub-steps: before the two drones avoid collision, the collision mode and avoidance direction are first determined according to the speed direction and relative position direction of the two drones. There are three collision modes, namely, collision mode, side collision mode and pursuit mode; among them, when the track angle deviation exceeds the set angle value and the collision point occurs within the circle, it is the collision mode, and the conflict is resolved by avoiding in the same direction; when the track angle deviation is less than the set angle value and the collision point is on both sides of the position line, it is the side collision mode, and the conflict is resolved by avoiding in different directions; When the track angle deviation is less than the set angle value and the collision point is on the extension of the position line, it is in pursuit mode and the conflict is resolved by different direction avoidance; the set angle value includes 90°; In step S3B, the wingman calculates the anti-collision element for the future roll angle control, which specifically includes the following sub-steps: for the wingman, by using a motion model constructed based on uniform linear motion for all targets, it is determined whether there is an aircraft that may gradually enter the anti-collision range of the aircraft at the future time t. If such an aircraft appears, the aircraft will determine the obstacle avoidance method through step S2B, and construct the future roll angle control item for anti-collision through the corresponding anti-collision item control function; In step S4B, the wingman calculates the anti-collision element for the current roll angle control, which specifically includes sub-steps: the wingman counts the current distance, calculates the distance between the wingman and other UAVs, and finally obtains the anti-collision control item for the current angle.
2. The fixed-wing cluster UAV anti-collision method based on multi-element game according to claim 1 is characterized in that: In step one, the leader does not actively avoid the wingman, but the wingman performs collision avoidance against all the leaders and wingmen.
3. The fixed-wing swarm UAV anti-collision method based on multi-element game according to claim 1 is characterized in that: In step S2A, the lead aircraft calculates the speed collision avoidance offset element, which specifically includes the following sub-steps: for the formation leader aircraft whose roles are positioned at the same level, the own aircraft performs collision avoidance control; at the same time, two collision avoidance methods, speed collision avoidance and angle collision avoidance, are adopted between the lead aircraft, wherein the speed collision avoidance is triggered at a set distance, and once it is determined that the own aircraft and another lead aircraft will approach each other after the set distance, the own aircraft will calculate and trigger the inhibition element of the collision avoidance state speed.
4. The fixed-wing swarm UAV anti-collision method based on multi-element game according to claim 3 is characterized in that: In step S3A, the lead aircraft calculates the roll angle control anti-collision element, which specifically includes the sub-steps of: when the progression reaches a set degree, emergency anti-collision treatment is performed through angle anti-collision, and at this time, the calculated roll angle anti-collision element between the lead aircraft is used for emergency anti-collision treatment.
5. The fixed-wing swarm UAV anti-collision method based on multi-element game according to claim 1 is characterized in that: In step S4A, the anti-collision elements calculated by the lead aircraft are used to make game decisions on speed and angle update to form a lead aircraft anti-collision strategy, which specifically includes the following sub-steps: each lead aircraft will provide at most two anti-collision elements to the aircraft itself. Assuming there are N formations, the aircraft itself will receive at most 2*(N-1) anti-collision elements. Through these elements, the aircraft will use the update formula to perform anti-collision element game to form the final lead aircraft anti-collision strategy.
6. The fixed-wing swarm UAV anti-collision method based on multi-element game according to claim 1 is characterized in that: In step S5B, the game decision of updating the angle using the anti-collision elements calculated by the wingman is formed to form a wingman anti-collision strategy, which specifically includes the following sub-steps: each wingman will provide at most two anti-collision elements to the local aircraft. Assuming that there are a total of N drones in the network, the local aircraft will receive at most 2*(N-1) anti-collision elements. Through these elements, the local aircraft will perform anti-collision element game through the update formula to form the final wingman anti-collision strategy.
7. A fixed-wing swarm UAV anti-collision system based on multi-element game, characterized in that: The method comprises a computer device, wherein the computer device comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is loaded by the processor, the method according to any one of claims 1 to 6 is executed.