Decentralized method and device for resolving conflicts of unmanned aerial vehicles and unmanned aerial vehicle

Abstract

The application discloses a kind of decentralized unmanned aerial vehicle conflict resolution method, equipment and unmanned aerial vehicle, wherein method includes: obtaining the state information of itself and the state information of other unmanned aerial vehicles;According to the state information obtained, detect whether there is conflict between other unmanned aerial vehicles;The conflict includes both conflict and potential conflict;Based on the preset consensus rule, according to state information and conflict situation, safety separation analysis is carried out, and the maneuvering strategy of unmanned aerial vehicle is generated, and the speed and / or heading of unmanned aerial vehicle is adjusted according to the maneuvering strategy;Wherein, when generating maneuvering strategy, the intended route of unmanned aerial vehicle is considered, so that the deviation between the actual flight route of unmanned aerial vehicle and the intended route is minimized.The application considers the intended route of unmanned aerial vehicle when generating the maneuvering strategy of unmanned aerial vehicle, so that the deviation between the actual flight route of unmanned aerial vehicle and the intended route is minimized, the influence on the task executed by unmanned aerial vehicle and additional consumption are reduced, and can be widely applied in the field of unmanned aerial vehicle technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a decentralized unmanned aerial vehicle conflict resolution method, device and unmanned aerial vehicle. BACKGROUND

[0002] Currently, unmanned aerial vehicles are not only applied in the military field, but also widely applied in the civil field such as cargo transportation, medical care, traffic monitoring and smart agriculture. In addition, unmanned aerial vehicles are also considered to play an important role in the construction of future 6G networks and smart cities. In these potential application scenarios, a large number of unmanned aerial vehicles will fly densely in the airspace. Therefore, air traffic safety has gradually become the focus of attention. How to ensure that unmanned aerial vehicles fly in an orderly manner while maintaining a safe distance from other unmanned aerial vehicles is one of the problems to be solved, which has promoted many studies on conflict resolution problems. Considering that the centralized optimization coordination method is difficult to apply when the number of unmanned aerial vehicles flying in the local environment is large, the prior art proposes a decentralized unmanned aerial vehicle conflict resolution method for task requirements.

[0003] Existing decentralized conflict resolution methods include artificial potential field method, optimization-based method and geometric navigation method. The artificial potential field method can generate a smooth and safe path for the unmanned aerial vehicle in real time, but has problems such as being easy to fall into local minimum. The optimization-based method can perform long-term conflict-free path planning for the unmanned aerial vehicle, but these methods are difficult to handle sudden conflicts. The geometric navigation-based method, such as the velocity obstacle method and the collision cone method, can quickly find a solution according to the instantaneous geometric characteristics of the impending conflict without the need for a large amount of prediction and analysis, and is therefore more suitable for short-term conflict resolution problems. However, the existing methods still have some limitations, and when calculating the conflict avoidance strategy for the unmanned aerial vehicle involved in the conflict, the established task of the unmanned aerial vehicle is ignored, thereby making it difficult for the unmanned aerial vehicle to quickly return to the established route. Another problem is that for the case where the unmanned aerial vehicle faces multiple conflicts, the existing methods do not distinguish between the conflicts, thereby making it difficult for the generated strategy to avoid key conflicts that have a greater impact on flight safety. In addition, although the existing methods consider modifying the size and direction of the velocity vector of the unmanned aerial vehicle to cover all possible maneuvering strategies, they do not consider the different preferences for heading and speed adjustment when the unmanned aerial vehicle performs different tasks. SUMMARY

[0004] To at least partially solve one of the technical problems existing in the prior art, the purpose of the present application is to provide a decentralized unmanned aerial vehicle conflict resolution method, device and unmanned aerial vehicle for task requirements.

[0005] The first technical solution adopted by the present application is:

[0006] A decentralized unmanned aerial vehicle conflict resolution method applied to an unmanned aerial vehicle, comprising the following steps:

[0007] It acquires its own status information and the status information of other drones; the status information includes position information and speed information.

[0008] The system detects whether there are conflicts with other drones based on the obtained status information; the conflicts include existing conflicts and potential conflicts.

[0009] Based on preset consensus rules, a security separation analysis is performed according to state information and conflict situation to generate a drone maneuvering strategy, and the drone's speed and / or heading is adjusted according to the maneuvering strategy.

[0010] Among them, the predetermined flight path of the UAV is taken into account when generating the maneuver strategy, so as to minimize the deviation between the actual flight path of the UAV and the predetermined flight path.

[0011] Furthermore, the step of detecting whether there is a conflict with other drones based on the obtained state information includes:

[0012] Each drone is defined with a value of p. i Centered on (t), with radius r i Circular safety area D i (p i (t),r i );

[0013] Let A be one of the two interacting drones. i and A j Its current position and velocity are the same as those at t=0; at t=0, A i Compared to A j The position is denoted as p ij (0); A j Compared to A i The current speed is v ji ;

[0014] Assuming that each drone involved in the conflict will adopt a strategy of adjusting its course and speed, A i The heading adjustment and speed adjustment are respectively and Δv i A j The heading adjustment and speed adjustment are respectively and Δv j Then A j Compared to A i The new speed is v′ ji ;

[0015] In order to analyze A i and A j The relationship between them will be located in A iThe relative safety region of a point is defined as where D ij The two tangent lines of the parabola pass through the coordinate origin, forming a collision cone. To avoid collision, v′ ji should be located outside the collision cone. The constraint is expressed as:

[0016]

[0017] where k ji is the slope of v′ ji , and p and p are the components of p ij (0);

[0018] The existing conflict is defined as: the direction of v ji is inside the collision cone defined by the safety region D ij ; if the two UAVs involved in the conflict do not take appropriate strategies to adjust their heading and speed, A j will enter the safety region at some future time point;

[0019] The potential conflict is defined as: the current direction of v ji is not inside the collision cone, but if the UAVs involved in the conflict do not take appropriate strategies to change the heading and speed, it can lead to v ji re-entering the collision cone region within time τ.

[0020] Further, to discuss the feasible solution range of k ji , equation (2) is defined according to equation (1):

[0021]

[0022] The roots of equation (2) determine the two thresholds of k ji ; assuming that the two UAVs maintain a safe separation at time t = 0, i.e., there exists such that the roots of equation (2) are real numbers:

[0023]

[0024] where The feasible solution range of k ji in equation (1) is determined by and ; rotating the local coordinate system with A j as the origin, the direction of the line connecting A i and A j is taken as the new Y axis, then the feasible solution range of k ji is:

[0025]

[0026] Each conflict constraint is determined by and respectively:

[0027] 1) In the existing conflict, v ji is in the collision cone, so the constraints determined by and are both existing constraints;

[0028] 2) In the potential conflict, according to the direction of v ji , there are three possible cases: if v ji is located in region 1, the constraint determined by is an existing constraint, and the constraint determined by is a potential constraint; if v ji is located in region 2, the constraint determined by is a potential constraint, and the constraint determined by is an existing constraint; if v ji is located in region 3, the constraints determined by and are both potential constraints;

[0029] The constraints determined by and cannot be satisfied at the same time, and the unmanned aerial vehicle involved in the conflict will select the constraint according to the right strategy, that is, A i and A j both select the constraint determined by .

[0030] Further, the region 1, region 2 and region 3 are determined by the following ways:

[0031] The straight line divides the plane into two half-planes, one of which contains the conflict region, and the other does not contain the conflict region, and the half-plane that does not contain the conflict region is recorded as region 2;

[0032] The straight line divides the plane into two half-planes, one of which contains the conflict region, and the other does not contain the conflict region, and the half-plane that does not contain the conflict region is recorded as region 1;

[0033] The region part of the overlap of region 1 and region 2 is recorded as region 3.

[0034] Further, the safety separation analysis according to the state information and the conflict situation, and generating the maneuvering strategy of the unmanned aerial vehicle, comprises:

[0035] To analyze the constraints of pair-wise conflicts, let k ji be the number of pair-wise conflicts, and let

[0036]

[0037] Rewrite equation (3) as

[0038]

[0039] Define two new variables:

[0040]

[0041] where v i is the current speed of UAV A i , v j is the current speed of UAV A j ; Φ i ' is the current heading of UAV A i , Φ j ' is the current heading of UAV A j .

[0042] Convert equation (4) to a linear relationship between and :

[0043]

[0044] Thus, a two-dimensional Cartesian coordinate system is obtained in , where the conflict-free region is denoted as FR ij ; for existing constraints, the initial point ; for potential constraints, the minimum distance between and the boundary of the conflict-free region can be represented by the vector .

[0045] The mapped position of the new state of the UAV involved in pair-wise conflicts after taking a maneuvering action is denoted as The vector from to is defined as

[0046] In existing constraints, to ensure the safe separation between A i and A j , the projection in the direction of u m should be greater than ‖u m ‖; conversely, in potential constraints, the projection in the direction of u m should be less than ‖um ‖; due to the kinematic constraints of UAVs, cannot take any value on ;

[0047] 1) Co-constraints: Assume in axis is in axis is The range of values of is determined by the maneuver constraints of i and The range of values of is determined by the maneuver constraints of j and For co-constraints, there are According to the range of values of , three cases of co-constraints are analyzed as follows:

[0048] a) Case 1: The constraint condition of is defined as:

[0049]

[0050] b) Case 2: The minimum value should be taken to make have more optional maneuver strategies; i The constraint condition of is defined as:

[0051]

[0052] c) Case 3: To ensure the safety interval between i and j , j should take more responsibility to make up for the maneuver limitations of i When i performs the maximum maneuver, i.e. reaches the maximum value, should be less than instead of less than So the new state will fall into the conflict-free region; is expressed as:

[0053]

[0054] In the formula, The constraint condition of is defined as:

[0055]

[0056] 2) Potential constraints: for potential constraints, there are According to and acceptable value range, two cases of potential constraints are analyzed as follows:

[0057] a) Case 1: Although there is a possibility of re-entering the conflict area, considering A j may encounter multiple conflicts at the same time, the maneuverable range of A j should be maximized as much as possible; therefore, The constraint condition of A

[0058]

[0059] b) Case 2: To ensure that the projection of A in the direction of u m is less than ||u m ||, The constraint condition of A

[0060]

[0061] In the formula,

[0062] According to the constraint range, the constraint condition of A is obtained, and the maneuvering strategy of the UAV is generated.

[0063] Further, the deviation between the actual flight route of the UAV and the predetermined route is minimized when the predetermined route of the UAV is considered in generating the maneuvering strategy, including:

[0064] Since the adjustment of the speed and / or the heading will cause A j to deviate from the original flight trajectory, after the conflict resolution, the speed of A j is restored to the original speed, and A j is returned to the predetermined route;

[0065] Under the premise of meeting the safety interval constraint and the maneuvering constraint, in order to ensure the air traffic efficiency, the goal of collaborative conflict resolution is to minimize the additional flight cost, and the objective function is defined as:

[0066]

[0067] In the formula, K1 and K2 are weights; v j is the current speed of A j , and v j,oFor A j The initial velocity; This is the angle of return.

[0068] Furthermore, the decentralized drone conflict resolution method also includes the following steps:

[0069] When a drone faces multiple conflict scenarios, the urgency of each conflict scenario is calculated, and the conflict that has the greatest impact on its flight safety is prioritized based on the urgency.

[0070] Furthermore, when the drone faces multiple conflict scenarios, the urgency of each conflict scenario is calculated, and the conflict with the greatest impact on its flight safety is prioritized based on the urgency. This includes:

[0071] For A j Every paired conflict encountered will generate a question about The constraints are expressed as:

[0072]

[0073] In the formula, FS j|i express The feasible solution domain in pairwise conflicts;

[0074] When A j Simultaneously encountering multiple conflicts, and A j Determine the constraints on maneuvers in each pair of conflicts; for multiple conflicts, The constraints can be expressed as:

[0075]

[0076] In the formula, C j Is with A j A group of drones that clashed;

[0077] When faced with multiple conflicts The feasible solution region is A j The intersection of the feasible solution regions corresponding to each conflict encountered; if A is involved j The case where two pairs of conflicting feasible solution domains do not intersect, i.e. At that time, A j A feasible maneuver strategy cannot be determined;

[0078] The urgency of each conflict is calculated based on preset indicators. Conflicts are then ranked according to urgency, and the constraints generated by the conflicts with the lowest urgency are deleted one by one until A is reached. j The feasible solution domain is no longer an empty set.

[0079] The second technical solution adopted in this invention is:

[0080] An electronic device comprising a processor and a memory having stored therein at least one instruction, at least one program, a code set or instruction set, which is loaded and executed by the processor to implement the above-mentioned method for resolving conflicts of unmanned aerial vehicles in a decentralized manner.

[0081] The third technical solution adopted by the present application is:

[0082] An unmanned aerial vehicle comprising the above-mentioned electronic device.

[0083] The fourth technical solution adopted by the present application is:

[0084] A computer-readable storage medium having stored therein at least one instruction, at least one program, a code set or instruction set, which is loaded and executed by a processor to implement the above-mentioned method for resolving conflicts of unmanned aerial vehicles in a decentralized manner.

[0085] The fifth technical solution adopted by the present application is:

[0086] A computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. The processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to make the computer device perform the above-mentioned method.

[0087] The present application has the following beneficial effects: The present application considers the intended route of the unmanned aerial vehicle when generating the maneuvering strategy of the unmanned aerial vehicle, thereby minimizing the deviation between the actual flight route of the unmanned aerial vehicle and the intended route, reducing the impact on the task performed by the unmanned aerial vehicle and additional consumption. In addition, for the case where the unmanned aerial vehicle faces multiple conflicts, the concept of conflict urgency is proposed, so that each unmanned aerial vehicle can independently judge and prioritize the conflict that has a greater impact on its flight safety. In addition, the proposed method combines speed maneuvering and heading maneuvering strategies, and can generate different conflict avoidance maneuvering strategies according to the different preferences of the unmanned aerial vehicle, providing the unmanned aerial vehicle with more flexible maneuvering options and enhancing the adaptability and practicality of the proposed method. BRIEF DESCRIPTION OF DRAWINGS

[0088] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the following introduces the drawings of the related technical solutions in the embodiments of the present application or the prior art. It should be understood that the drawings in the following introduction are only for the convenience of clearly describing some of the embodiments of the technical solutions in the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative labor.

[0089] Figure 1 is a schematic diagram of the safety separation constraint of the unmanned aerial vehicle based on the collision cone in the embodiments of the present application; wherein, Figure 1 (a) shows the layout of two interacting unmanned aerial vehicles, Figure 1 (b) shows the relative speed v of the unmanned aerial vehicles ji should be located outside the collision cone (gray area);

[0090] Figure 2 is a schematic diagram of the local coordinate system after rotation in the embodiments of the present application;

[0091] Figure 3 is a schematic diagram of different types of conflicts and constraints in the embodiments of the present application; wherein, Figure 3 (a) shows both the conflicts (red arrows) and the potential conflicts (blue arrows), Figure 3 (b) shows that the type of constraint is determined by v ji at t=0;

[0092] Figure 4 is a schematic diagram of both the existing constraints and the potential constraints represented in the mapping coordinate system in the embodiments of the present application;

[0093] Figure 5 is a schematic diagram of the embodiments of the present application when A i cannot achieve the required maneuver, A j should bear more responsibility for conflict resolution;

[0094] Figure 6 is a schematic diagram of the feasible solution region of A j in the plane in the embodiments of the present application;

[0095] Figure 7 is a schematic diagram of the embodiments of the present application in which A j may simultaneously have multiple conflicts with different neighbors during flight;

[0096] Figure 8 is a schematic diagram of the urgency of the pairwise conflicts (red arrows represent existing conflicts, and blue arrows represent potential conflicts) in the embodiments of the present application;

[0097] Figure 9is a schematic diagram of the additional flight distance caused by the heading maneuver in the embodiment of the application;

[0098] Figure 10 is a flow chart of the decentralized conflict resolution algorithm in the embodiment of the application;

[0099] Figure 11 is a flow chart of the steps of a decentralized UAV conflict resolution method in the embodiment of the application. DETAILED DESCRIPTION

[0100] Embodiments of the application are described in detail below with reference to the accompanying drawings, in which the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the application and cannot be understood as limiting the application. For the step numbers in the following embodiments, they are only set for the convenience of explanation and description, and the order between the steps is not limited in any way, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0101] In the description of the application, it should be understood that the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0102] In the description of the application, several meanings are one or more, and multiple meanings are two or more. Greater than, less than, more than, etc. are understood as not including the number, and above, below, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.

[0103] In the description of the application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the application in combination with the specific content of the technical solution.

[0104] Embodiment 1

[0105] As shown in Figure 10 and Figure 11 , the embodiment provides a decentralized UAV conflict resolution method, applied to a UAV, comprising the following steps:

[0106] S1, obtaining state information of itself and state information of other unmanned aerial vehicles; the state information comprises position information and speed information;

[0107] S2, detecting whether there is a conflict situation with other unmanned aerial vehicles according to the obtained state information; the conflict situation comprises a conflict and a potential conflict;

[0108] S3, performing a safe separation analysis according to the state information and the conflict situation, when the unmanned aerial vehicle faces multiple conflict situations, calculating an emergency degree of each conflict situation, and judging and preferentially processing a conflict that has a greater impact on flight safety according to the emergency degree;

[0109] S4, generating a maneuvering strategy of the unmanned aerial vehicle based on the obtained safe separation constraint and a preset consensus rule;

[0110] S5, adjusting the speed and / or heading of the unmanned aerial vehicle according to the maneuvering strategy; wherein the deviation between the actual flight route of the unmanned aerial vehicle and the intended route is minimized when the maneuvering strategy is generated.

[0111] The embodiment of the application proposes a geometric-based decentralized collaborative conflict resolution method, a consensus rule (such as a right strategy and a constraint decoupling rule) is established between unmanned aerial vehicles, so that each unmanned aerial vehicle can independently determine the feasible maneuvering range of the involved conflict. When the maneuvering strategy of the unmanned aerial vehicle is generated, the intended route of the unmanned aerial vehicle is considered, so that the deviation between the actual flight route of the unmanned aerial vehicle and the intended route is minimized, and the influence and additional consumption on the task performed by the unmanned aerial vehicle are reduced. For the case that the unmanned aerial vehicle faces multiple conflicts, the concept of conflict emergency degree is proposed, so that each unmanned aerial vehicle can independently judge and preferentially process a conflict that has a greater impact on flight safety. In addition, the proposed method integrates speed maneuvering and heading maneuvering strategies, and can generate different conflict avoidance maneuvering strategies according to different preferences of the unmanned aerial vehicle, thereby providing the unmanned aerial vehicle with more flexible maneuvering options, and enhancing the adaptability and practicality of the proposed method.

[0112] The above method will be explained in detail in combination with the accompanying drawings and specific embodiments.

[0113] (1) Unmanned aerial vehicle kinematic model

[0114] Suppose that N unmanned aerial vehicles fly in a two-dimensional plane space at the same time, the i-th unmanned aerial vehicle is denoted as A i , i∈{1,2,…,N}. The kinematic model of A i can be described by a rectangular coordinate system, wherein the vector variable is represented by bold:

[0115]

[0116] wherein represents the Ai At time t, x i (t) and y i (t) are p i (t) Components on the X and Y axes. i (t) represents A i The velocity at time t, v i The magnitude of (t), i.e., the velocity v i (t), whose range of values ​​is limited to arrive Φ i (t) represents the heading angle of the UAV, indicating v i (t) The direction in a two-dimensional plane. i (t) and ω i (t) are A i The acceleration and angular velocity at time t. and

[0117] The method in this embodiment controls the heading and speed of the drone, i.e., A i Φ i (t) and v i (t) to resolve the conflict. A i The heading adjustment and speed adjustment are denoted as follows: and Δv i Combined with maximum angular velocity With respect to acceleration constraints, we can reasonably estimate the maximum turning angle that the UAV can achieve within the time window t∈[0,τ]. and speed variation range right and Δv i The constraints are defined as follows:

[0118]

[0119] (2) Inter-machine conflict analysis

[0120] To ensure the safety of drones during flight, this embodiment defines a p-value for each drone. i Centered on (t), with radius r i Circular safety area D i (p i (t),r i ). Where r i It is A i The fixed parameters are determined by A. i This is determined by the platform specifications.

[0121] like Figure 1 As shown in (a), the two interacting drones are denoted as A.i and A j Its current position and velocity are the same as its position and velocity at t=0. Figure 1 In the local coordinate system shown in (b), A j The position of A is the origin of the local coordinate system. At t=0, A... i Compared to A j The position is denoted as p ij (0).

[0122] p ij (0)=[x i (0)-x j (0) y i (0)-y j (0)] T (3)

[0123] Figure 1 (b) shows A i and A j Paired conflicts between A j Compared to A i The current speed is v ji =v j (0)-v i (0). To maintain a safe distance, each drone involved in the conflict will employ a strategy of adjusting its course and speed. Assume A i The heading adjustment and speed adjustment are respectively and Δv i A j The heading adjustment and speed adjustment are respectively and Δv j Then A j Compared to A i The new velocity can be expressed as equation (4). To simplify the expression, v is used respectively. i and v j Replace v i (0) and v j (0), using Φ i and Φ j Replace Φ i (0) and Φ j (0).

[0124]

[0125] In order to analyze A i and A j The relationship between them will be located in A i The relative safe zone is defined as in D ijThe two tangents pass through the origin to form a collision cone. To avoid conflict, v′ ji It should be located outside the collision cone. The constraint condition is expressed as:

[0126]

[0127] Where, k ji It is v′ ji The slope, and It is p ij The component of (0). To discuss k ji The range of feasible solutions can be defined by equation (5) and equation (6) is defined as follows:

[0128]

[0129] The roots of equation (6) determine k ji Two thresholds. Assume the two drones remain safely separated at time t=0, i.e., there exists... Make the roots of equation (6) real numbers.

[0130]

[0131] in In equation (5), k ji The range of feasible solutions is determined by and Decision. Regarding A j Rotate the local coordinate system around the origin, and change A i and A j If the direction of the line connecting them is taken as the new Y-axis, then k ji The range of feasible solutions is:

[0132]

[0133] It is worth noting that the constraint condition in equation (8) is a necessary and sufficient condition for equation (5), but not a condition that makes v j j i The necessary and sufficient condition for remaining outside the collision cone. For example... Figure 2 As shown, if v′ ji The heading is within the shaded area with an angle of θ, meaning the relative velocity points in the direction that makes A... i and A j In the direction of mutual distance, v′ ji Equation (5) is not satisfied, but A can still be guaranteed. i and A j Maintain a safe distance between them.

[0134] The method in this embodiment considers two different types of conflicts. The first type is called an existing conflict. For example...Figure 3 As shown in (a), v ji The course is in safe area D ij Within the defined collision cone. In this case, if the two drones involved in the conflict do not adopt appropriate strategies to adjust their course and speed, then A j We will enter the safe zone at some point in the future.

[0135] The second type is called potential conflict, which should be considered when multiple drones collide simultaneously. For example... Figure 3 As shown in (a), v ji The current course of the drone may not be within the collision cone. However, if the drone involved in the conflict adopts inappropriate strategies to change its course and speed, it could lead to a collision. ji Re-entering the collision cone region within time τ means they will no longer maintain a safe distance.

[0136] To analyze the constraints of pairwise conflicts, k ji Expanded into equation (9):

[0137]

[0138] Equation (9) can be rewritten in the following form:

[0139]

[0140] in

[0141] Each conflict will generate two distinct constraints, respectively determined by... and The method in this embodiment considers two different types of constraints, referred to as existing constraints and potential constraints. Next, we will discuss... Using the constraints determined as an example, we can explain the difference between these two types of constraints.

[0142] like Figure 3 As shown in (b), the straight line Divide the plane into two half-planes, one containing a conflict region and the other not. The half-plane containing the conflict region is called the unsafe region, and the half-plane not containing the conflict region is called the safe region. If v at t=0... ji If it is located in an unsafe area, then by A defined constraint is an existing constraint, which can be expressed as:

[0143]

[0144] If v ji Within the safe zone, then by The determined constraints are potential constraints, which can be expressed as:

[0145]

[0146] Similarly, the determined constraints can be analyzed in the same way, which is omitted here. From and the determined constraints can be summarized as:

[0147]

[0148] and

[0149]

[0150] By analyzing the constraints (11) and (12), it can be found that the type of the constraint is determined by the relative velocity v ji at t = 0. In the existing conflict, v ji is within the collision cone, so the constraints determined by and are existing constraints.

[0151] In the potential conflict, there are three possible cases according to the direction of v ji . As shown in (b) of Figure 3 , if v ji is located in region 1, the constraint determined by is an existing constraint, while the constraint determined by is a potential constraint. If v ji is located in region 2, the constraint determined by is a potential constraint, while the constraint determined by is an existing constraint. If v ji is located in region 3, the constraints determined by and are both potential constraints.

[0152] (3) Decentralized conflict resolution method based on spatial mapping

[0153] In this section, the safety separation constraints of UAVs based on the spatial mapping method will be analyzed, and the nonlinear constraints will be linearized. Then, based on the linearized constraints, a decentralized conflict resolution method combining speed and heading adjustment is proposed.

[0154] 3.1) Linearization of safety separation constraints by spatial mapping method

[0155] In order to ensure that A i and A j ​The safety separation, the heading adjustment and the speed adjustment should satisfy the nonlinear inequality constraints (13) or (14). However, it is difficult to establish a consensus rule that can decouple the conflict resolution responsibility of the conflicting UAVs according to the nonlinear constraints. According to the structure of the inequality constraints, two new variables are defined as

[0156]

[0157] where b = 1 or 2. Equation (10) can be transformed into a linear relationship between and

[0158]

[0159] Thus, a two-dimensional rectangular coordinate system is obtained It is noted that the two constraints determined by and cannot be satisfied simultaneously. Therefore, when a conflict is detected, the two UAVs should reach a consensus to determine which constraint should be satisfied. The method of the present embodiment selects the constraint according to the right-hand strategy, i.e., A i and A j select the safety separation constraint determined by . According to the previous analysis, it can be inferred that when v ji is located within the conflict region and region 1, the constraint type determined by is a certain constraint. Conversely, when v ji is located within region 2 and region 3, the constraint determined by is a potential constraint. This strategy is very effective for conflict scenarios involving multiple UAVs. If all UAVs seek conflict avoidance solutions according to the right-hand strategy, they will all pass from the right side of the other UAVs, thereby ensuring the orderly flight of the UAVs.

[0160] Next, the safety separation constraint determined in the rectangular coordinate system will be discussed. As shown in Figure 4 , the initial state of a pair of UAVs that generates a conflict is mapped to a point in the coordinate system, i.e., Figure 4 The red dashed rectangular frame in represents the maneuverability limit of the UAV pair.

[0161]

[0162] In , the conflict-free region and the conflict region are divided by the straight line . The conflict-free region is denoted as FR ij . For a certain constraint, the initial point For potential constraints, The minimum distance between the boundary of the conflict-free region and the vector is denoted as

[0163]

[0164] The mapping position of the new state of the pair of UAVs after taking the maneuvering action is denoted as The vector from to is defined as In the existing constraint, in order to guarantee the safe separation between A i and A j , the projection in the direction of u m should be greater than ||u m ||. Conversely, in the potential constraint, the projection in the direction of u m should be less than ||u m ||. Due to the kinematic constraint of the UAV, cannot take any value on . Therefore, we further discuss the safe separation constraint:

[0165] 1) Existing constraint: assuming the component of on the axis is and the component of on the axis is can be expressed as:

[0166]

[0167] The range of values of is determined by the maneuvering constraints of i and is determined by the maneuvering constraints of and j . The range of values of is expressed as:

[0168]

[0169] According to equation (13) and equation (14), there must exist Therefore, for the existing constraint, there exists According to the range of values of , we analyze three cases of the existing constraint as follows:

[0170] Case 1: but The constraint conditions are defined as follows:

[0171]

[0172] Scenario 2: but The minimum value should be taken so that A i There are more maneuvering strategies to choose from. The constraint conditions are defined as follows:

[0173]

[0174] Scenario 3: To ensure A i and A j Safety interval between, A j A should take on more responsibility to make amends. i Restrictions on mobility. For example... Figure 5 As shown, when A i When performing maximum maneuver, that is When the maximum value is reached, Should be smaller Instead of less than This new state It will then fall into a conflict-free region. According to geometric relationships, It can be represented as:

[0175]

[0176] in The constraints are defined as follows:

[0177]

[0178] 2) Latent constraints: For latent constraints, there exist according to and The possible range of values ​​for the potential constraints is analyzed in two cases as follows:

[0179] Scenario 1: Despite the possibility of re-entering the conflict zone, considering A j Multiple conflicts may occur simultaneously; A should be minimized as much as possible. j To maximize the maneuverability range. Therefore, The constraints can be defined as follows:

[0180]

[0181] Scenario 2: To ensure in u m The projection in the direction is less than ||u m ‖, The constraints can be defined as follows:

[0182]

[0183] With General The constraints are limited to In comparison, the constraints in (26) can expand A. j The range of maneuverability, thus enabling A j It provides more maneuver options when facing multiple conflicts.

[0184] 3.2) Safety Separation Constraints for Multiple Unmanned Aerial Vehicles

[0185] By discussing the constraints under different conditions, we can determine the appropriate constraints based on the specific circumstances. Determine the constraints The constraints, thus making A j Conflict resolution and responsibility decoupling. Substituting (19) into the above constraints, we can obtain the results for different situations. The constraints. Also, due to the choice of A... i maneuver strategy A was analyzed in the same way. i and A j Paired conflicts between them, therefore It can satisfy guarantee A i and A j Constraints for safe separation. For A j Every paired conflict encountered will generate a question about The constraint can be expressed as:

[0186]

[0187] FS j|i express The feasible solution domain in pairwise conflicts. For example... Figure 6 As shown, FS j|i Representing nonlinear inequality constraints in Feasible region on the plane.

[0188] During flight, A j Multiple conflicts may occur simultaneously, and A j The constraints on maneuvers can be determined for each pair of conflicts. For multiple conflicts, The constraints can be expressed as:

[0189]

[0190] where C j is the set of drones that conflict with A j . As shown in FIG. 31, when facing multiple conflicts, the feasible solution region of A Figure 6 is the intersection of the feasible solution regions of each conflict A j encounters.

[0191] In the case of dense conflicts, it is possible that the feasible solution regions of two pairwise conflicts involving A j do not intersect, i.e. As shown in FIG. 32, A j will encounter multiple neighbors approaching from different directions, and the constraints to resolve each pair of conflicts are contradictory. In this case, A j will not be able to determine a feasible maneuvering strategy. Figure 7

[0192] Therefore, a corresponding mechanism should be designed to deal with this situation. Ballerini et al. showed that in the collective behavior of bird flocks, the interaction between members depends on the topological distance, each bird interacts with a fixed number of neighbors on average, rather than all neighbors within a fixed metric distance. Inspired by this theory, this embodiment proposes to rank the neighboring drones in terms of the danger of the conflict and to prioritize the more urgent conflicts. This embodiment defines an urgency level for each pair of conflicts. When a drone encounters multiple pairs of conflicts, it ranks them according to the urgency level. If the feasible solution region of A j is empty after considering all the involved pairwise conflicts, the constraints generated by the less urgent conflicts are removed one by one until the feasible solution region of A j is no longer an empty set. Therefore, each drone can perform conflict avoidance maneuvers while considering more urgent conflicts.

[0193] This embodiment defines several indicators to measure the urgency level of each pair of conflicts. As shown in FIG. 33, the minimum distance between future A i and A j is defined as the perpendicular distance from the position of A i to the straight line defined by v ji . The smaller the minimum distance between two drones, the more maneuvering action they should take to avoid each other. Since the maneuverability of drones is limited, they need more time to complete a larger maneuvering action. Therefore, this embodiment uses the minimum distance as one of the measurement standards. Figure 8

[0194] ​​​In addition, the current distance between the two drones also affects the urgency of a paired conflict. If the two drones are far apart, a sudden maneuver by one or both drones will not immediately cause them to lose their safe distance. However, when the two drones are close together, even if a safe distance can be maintained according to their current motion, a small maneuver by one drone could cause the two drones to immediately lose their safe distance. Therefore, the current distance between the two drones is also used to measure the urgency of a paired conflict.

[0195] Finally, the relative motion between the two drones also affects the urgency of the paired conflict. When two drones rapidly approach each other, the time available to maneuver and avoid them decreases. The predicted approach time for each pair of drones is defined as the third indicator of conflict urgency. When A... j When a conflict arises with its neighbor, the predicted approach time is A. j The time it takes to enter a relatively safe zone. When they encounter potential conflict, the predicted approach time is A. i and A j The time it takes for the distance between them to reach its minimum value.

[0196] from Figure 8 As can be seen, the distance between paired conflicting UAVs and the magnitude and direction of their relative velocities affect the predicted approach time. Specifically, the closer the distance, the greater the relative velocity, and the closer the direction of the relative velocity is to A. j The closer the drone is to its neighboring drone, the shorter the predicted proximity time. This means the conflict is more imminent. To standardize the metric, the urgency of a conflict between two drones is defined as:

[0197]

[0198] Where α * >0 represents the weight. The parameters in equation (29) are defined as follows: Figure 8 As shown. d ij For A i With A j The predicted minimum distance between them To predict the approach time. In DR ij In its composition, the first term considers the impact of minimum distance, the second term considers the impact of the current distance between the two drones, and the third term considers the impact of predicted approach time. Please note that DR... ij The smaller the value, the higher the urgency of the conflict.

[0199] Because in calculating DR ij The quantities used are all scalars, so velocities of the same magnitude but opposite directions will yield the same DR. ij Therefore, when the relative velocity vji When located in the lower half-plane, i.e. At that time, the urgency of the conflict should be reduced. Specifically, when v ji When located within region 3, DR ij Set to 1000. Furthermore, since this embodiment employs a right-side strategy, the paired conflicting DR values ​​of relative velocities in the left half-plane... ij It should be set to a smaller value because if these conflicts are not addressed first, they may escalate into unsolvable conflicts.

[0200] 3.3) Decentralized conflict resolution algorithm

[0201] In Section 3.2) above, the safety separation constraints for multiple UAVs and the method for selecting these constraints have been defined. In addition to satisfying the constraint that ensures safe separation from other UAVs, A j The maneuver strategy should also satisfy the maneuver constraints defined in equation (2). A j The mobility restriction is denoted as ML j . The kinematic constraints are denoted as:

[0202]

[0203] To ensure air traffic efficiency while satisfying safety separation and maneuver constraints, the objective of cooperative conflict resolution is to minimize additional flight costs. The objective function is defined as follows:

[0204] Where K * >0 represents the weight. The objective function considers two aspects of flight cost. The first is the deviation between the adjusted speed and the initial speed, where v j For A j The current speed, v j,o For A j The initial velocity. Because velocity adjustment will cause A... j Whether ahead of or behind schedule, therefore, after the conflict is resolved, A j The speed should be restored to its original speed. Secondly, there is the deviation between the heading adjustment and the return angle, among which... For the return angle, make A j Return to the scheduled route. For example... Figure 9 As shown, heading maneuvers will cause A j It deviates from the planned flight path and generates additional flight distance. A j A temporary target will be selected on the predetermined path. j The course should be as close as possible to the direction pointing to the temporary target, so that A j Effectively return to the predetermined path. By setting different weights, A can be optimized.j The selected maneuvering strategy is biased towards a heading maneuver or a speed maneuver.

[0205] The optimal conflict avoidance strategy of A can be obtained by solving the following problem: j

[0206]

[0207] Embodiment 2

[0208] The embodiments of the present application also provide an electronic device, which comprises a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the method for resolving conflicts of unmanned aerial vehicles in a decentralized manner as shown in Figure 11

[0209] It can be understood that the memory can include a random access memory (RAM) and a read-only memory (ROM). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, codes, code sets or instruction sets. The memory can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function, instructions for implementing the above-mentioned various method embodiments, etc.; and the data storage area can store data created according to the use of the server, etc.

[0210] ​​The processor can include one or more processing cores. The processor connects various parts within the entire server by various interfaces and lines, executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor can be integrated with one or several combinations of a central processing unit (CPU) and a modem. Among them, the CPU mainly processes operating systems and application programs; the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor, but can be realized by a single chip.

[0211] Since the electronic device is an electronic device corresponding to the decentralized unmanned aerial vehicle conflict resolution method of the embodiments of the application, and the principle of solving problems by the electronic device is similar to that of the method, the implementation of the electronic device can be referred to the implementation process of the above-mentioned method embodiments, and the repeated parts will not be repeated.

[0212] Embodiment 3

[0213] The embodiment provides an unmanned aerial vehicle, wherein an electronic device for executing the method as shown in Figure 11 The unmanned aerial vehicle can be a fixed-wing unmanned aerial vehicle or a rotorcraft, or other unmanned aerial vehicles.

[0214] Embodiment 4

[0215] The embodiment of the application further provides a computer readable storage medium, wherein the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by a processor to implement a decentralized unmanned aerial vehicle conflict resolution method as shown in Figure 11

[0216] ​Those skilled in the art can understand that all or part of the steps of various methods in the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer readable storage medium, including Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically-Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other medium that can be used to carry or store data which can be read by a computer.

[0217] Since the storage medium is a storage medium corresponding to the method for resolving conflicts of unmanned aerial vehicles in a decentralized manner according to the embodiments of the present application, and the principle of solving problems of the storage medium is similar to that of the method, the implementation of the storage medium can be referred to the implementation process of the above method embodiments, and the repeated parts will not be described herein.

[0218] Embodiment 5

[0219] In some possible implementation manners, various aspects of the method according to the embodiments of the present application can also be implemented in the form of a program product, which includes program codes for causing a computer device to execute the steps of the method for resolving conflicts of unmanned aerial vehicles in a decentralized manner according to various exemplary embodiments of the present application described above in the specification when the program product is run on the computer device. The executable computer program codes or "codes" for executing various embodiments can be written in a high-level programming language such as C, C++, C#, Smalltalk, Java, JavaScript, Visual Basic, Structured Query Language (for example, Transact-SQL), Perl, or in various other programming languages.

[0220] It should be understood that various aspects of the application can be implemented in hardware, software, firmware or a combination of them. In the above embodiments, various steps or methods can be implemented in software or firmware which is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combination, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application-specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field-programmable gate arrays (FPGA), and so on.

[0221] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, a person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples, without contradiction.

[0222] The above embodiments are only for the purpose of illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the essence of the present application should be covered within the protection scope of the present application.

Claims

1. A decentralized method for resolving conflicts of unmanned aerial vehicles, characterized in that, The application is applied to a UAV, and comprises the following steps: obtaining state information of itself and state information of other UAVs; detecting whether there is a conflict situation between the UAV and the other UAVs according to the obtained state information; the conflict situation includes an existing conflict and a potential conflict; based on a preset consensus rule, performing a safety separation analysis according to the state information and the conflict situation, generating a maneuvering strategy of the UAV, and adjusting the speed and / or the heading of the UAV according to the maneuvering strategy; wherein, when the maneuvering strategy is generated, the existing flight route of the UAV is considered, and deviation between the actual flight route of the UAV and the existing flight route is minimized; the decentralized UAV conflict resolution method further comprises the following steps: when the UAV faces multiple conflict situations, calculating the urgency of each conflict situation, and judging and preferentially processing a conflict that has a greater impact on flight safety according to the urgency; the step of calculating the urgency of each conflict situation and preferentially processing a conflict that has a greater impact on flight safety according to the urgency when the UAV faces multiple conflict situations comprises: For the UAV Each pair-wise conflict encountered results in a constraint on the set of feasible trajectories, expressed as: wherein represents feasible solution region in pair conflict; is a heading adjustment amount, is a speed adjustment amount; When At the same time, multiple conflicts are encountered, and In each pair of conflicts, the constraint condition of its maneuver is determined; for multiple conflicts, The constraint condition is represented as: In the formula, is a set of drones in conflict with the drone When faced with multiple conflicts, the feasible solution region is the intersection of the feasible solution regions of each conflict encountered; if the feasible solution regions of two paired conflicts involving do not intersect, i.e. , , a feasible maneuvering strategy cannot be determined. According to the preset index, the urgency of each conflict is calculated, the conflict situations are sorted according to the urgency, and the constraint conditions generated by the conflict with the lowest urgency are deleted one by one until the feasible solution domain of the equation is no longer an empty set.

2. The method of claim 1, wherein, the step of detecting whether there is a conflict situation between the UAV and the other UAVs according to the obtained state information comprises: Each drone is defined a circular safety area with center at and radius ; Let two interacting drones be denoted as and with current position and velocity and at time the position of ; the current velocity of ;​​ Assuming each drone involved in the conflict will take the strategy of adjusting the heading and speed, the heading adjustment amount and the speed adjustment amount of and , the heading adjustment amount and the speed adjustment amount of and , the new speed of is ; In order to analyze and The relationship between them will be located in The relative safe zone is defined as ,in ; The two tangents pass through the origin to form a collision cone. To avoid conflict, It should be located outside the collision cone, and the constraint condition is expressed as: （1） wherein is the slope of and is the component of The existing collision definition is: The direction of the velocity of the UAV is within the collision cone defined by the safety area If both UAVs involved in the collision do not take appropriate strategies to adjust their heading and velocity, they will enter the safety area at some point in the future. The potential conflict is defined as: the current direction of the drone is not within the collision cone, but if the drone involved in the conflict does not take appropriate strategies to change the heading and speed, it can lead to re-enter the collision cone area within the time .

3. The method of claim 2, wherein, For the purpose of the discussion of the feasible solution range, define equation (2) in terms of equation (1): （2） The roots of equation (2) determine the two thresholds; assume that the two drones remain safely separated at time , i.e., there exists such that the roots of equation (2) are real: wherein ; the feasible solution range of in formula (1) is determined by and ; by rotating the local coordinate system with as the origin, taking the direction of the line between and as the new Y axis, the feasible solution range of is: Each conflicting constraint condition is determined by and respectively: 1) in the existing conflict, within the collision cone, thus by and the constraints determined are existing constraints; 2) In potential conflicts, according to There are three possible directions: if If it is located in area 1, then it is by The defined constraints are existing constraints, and are determined by... A definite constraint is a potential constraint; if If it is located in area 2, then by Determined constraints are potential constraints, while those determined by... The defined constraints are existing constraints; if If it is located in area 3, then it is by and All definite constraints are potential constraints; By and determined constraints cannot be satisfied simultaneously, the drones involved in the conflict will select the constraint determined by the right-hand side strategy, i.e. and both select the constraint determined by .

4. The method of claim 3, wherein, the region 1, the region 2 and the region 3 are determined by the following method: straight line The plane is divided into two half-planes, one of which contains the conflict region and the other does not. The half-plane that does not contain the conflict region is labeled region 2. straight line The plane is divided into two half-planes, one of which contains the conflict region and the other does not. The half-plane that does not contain the conflict region is labeled Region 1. a region part where the region 1 and the region 2 overlap is recorded as the region 3.

5. The method of claim 3, wherein, the step of performing a safety separation analysis according to the state information and the conflict situation and generating a maneuvering strategy of the UAV comprises: To analyze the constraints of pairwise conflicts, consider unfolded as: （3） the formula (3) is rewritten in the following form: （4） two new variables are defined: wherein is the current speed of the UAV is the current speed of the UAV is the current speed of the UAV is the current speed of the UAV is the current heading of the UAV is the current heading of the UAV is the current heading of the UAV is the current heading of the UAV ; converting formula (4) to and a linear relationship between A two-dimensional rectangular coordinate system is thus obtained In , the conflict-free region is denoted as ; for the existing constraints, the initial point ; for the potential constraints, ; The minimum distance between the boundary of the conflict-free region and the potential constraint can be represented by the vector ; The mapping position of the new state of the UAVs involved in a pair conflict after taking a maneuvering action is denoted as From to the vector is defined as ; Among the existing constraints, in order to ensure the safe separation between , the projection in the direction should be greater than ; on the contrary, among the potential constraints, the projection in the direction should be less than ; due to the kinematic constraints of the UAV, cannot take any value on ; 1) Existing constraints: Assumptions In the component on the axis , in the component on the axis , the range of admissible values is determined by the maneuver constraints of and , while the range of admissible values of is determined by the maneuver constraints of and ; for the existing constraints there are ; according to the range of admissible values of and , three cases of existing constraints are analyzed as follows: a) Case 1: then The constraint condition is defined as: b) Case 2: then The minimum should be taken to make There are more optional maneuvering strategies; The constraint condition is defined as: c) Case 3: In order to guarantee a safety gap between , the vehicle should take more responsibility to compensate the maneuvering limitation; when the maximum maneuver is made, i.e. the maximum value is reached, should be less than , instead of less than , so that the new state falls into the conflict-free region; is expressed as: wherein ; The constraints of the above formula are defined as follows: 2) Potential constraints: For potential constraints, there are ; according to and the range of acceptable values, two cases of potential constraints are analyzed as follows: a) Case 1: , despite the possibility of re-entering the conflict area, it is considered that multiple conflicts can be encountered simultaneously, the maneuverable range of should be maximized; therefore, the constraint condition can be defined as: b) Case 2: To ensure In The constraint condition of the projection in the direction of , The constraint condition can be defined as: In the formulae, ; obtaining constraints, and generating a maneuvering strategy for the drone.

6. The method of claim 1, wherein, the step of considering the existing flight route of the UAV when the maneuvering strategy is generated and minimizing deviation between the actual flight route of the UAV and the existing flight route comprises: Since the adjustment of the speed and / or the heading causes a deviation from the original flight path, after the conflict resolution, the speed is restored to the original speed, and the aircraft is returned to the intended course; on the premise of meeting safety interval constraints and maneuvering constraints, in order to ensure air traffic efficiency, the target of collaborative conflict resolution is to minimize additional flight costs, and a target function is defined as: wherein , is a weight; is the current speed of is the initial speed of is the return angle.​​ 7. An electronic device, comprising: the electronic device comprises a processor and a memory, the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to realize the method in any one of claims 1 to 6.

8. A drone, characterized in that, the electronic device comprises a processor and a memory, the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to realize the method in any one of claims 1 to 6.

Images