Unmanned aerial vehicle cluster formation control method and device

The present invention discloses an unmanned aerial vehicle cluster formation control method and device. The method includes the following steps that: step S100, the formation reference point positionsand target reference point position of an unmanned aerial vehicle cluster are set; step S200, the ki...

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Bibliographische Detailangaben
Hauptverfasser: LYU YONGSHEN, YAO JINGBO, XIN CHAOJUN, YANG YAJUN, YANG XUERONG
Format: Patent
Sprache:chi ; eng
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Zusammenfassung:The present invention discloses an unmanned aerial vehicle cluster formation control method and device. The method includes the following steps that: step S100, the formation reference point positionsand target reference point position of an unmanned aerial vehicle cluster are set; step S200, the kinematic equation of an i-th internal member is established according to the desired positions, speed vectors and acceleration vectors of each internal member in the unmanned aerial vehicle cluster; step S300, the acceleration control function of the i-th internal member and the speed control function of the i-th internal member at each formation reference point are established on the basis of an artificial potential field method, and the speed control functions of all the internal members are obtained; and step S400, each internal member is controlled to follow the formation reference points as a default formation and move toward the target reference point. According to the method and device of the invention, on th