Cluster anti-interference control method for tilting three-rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicle cluster control, in particular to a cluster anti-interference control method for a tilting three-rotor unmanned aerial vehicle, and provides a cluster anti-interference method for the tilting three-rotor unmanned aerial vehicle, which only extracts required obstacle information. When the track encounters a newly found obstacle, comparing a collision track with a collision-free guide path, generating a collision cost of a penalty function, using obstacle gradient information to push the track colliding with the obstacle out of the obstacle, and through active interference estimation and compensation, enabling the unmanned aerial vehicle to estimate inter-vehicle and external interference in real time; and compensation is carried out through active control, so that intensive formation autonomous flight of the tilting three-rotor unmanned aerial vehicle is realized.

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