一种用于真实城市场景下的无人机编队优化控制方法
By introducing formation holding force and neighbor coordination force into UAV formation control, and combining flight dynamic weight adjustment and three-dimensional obstacle avoidance strategy, the problems of loose formation and path oscillation of UAV formation in complex urban environments are solved, and stable and safe formation control is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANDONG JIAOTONG UNIV
- Filing Date
- 2026-04-24
- Publication Date
- 2026-07-17
AI Technical Summary
Existing drone formation control methods are prone to disrupting formation structure in complex urban environments, leading to loose formations or individual drones becoming separated, as well as path oscillations and increased energy consumption, making it difficult to meet the needs of practical engineering applications.
A formation control mechanism integrating formation maintenance and neighbor coordination is constructed, and a flight dynamic weight adjustment mechanism and a three-dimensional obstacle avoidance and altitude constraint strategy are introduced. A leader-follower formation structure is adopted, and by optimizing the potential field and iteratively updating the UAV status, the stable maintenance and safe obstacle avoidance of UAV formation in complex urban environments are achieved.
It improves the stability, safety, and smoothness of drone formations in complex urban environments, enhances the adaptability and engineering versatility of formation control, and ensures safe obstacle avoidance and efficient flight of formations in real urban scenarios.
Smart Images
Figure CN122086104B_ABST