Unmanned aerial vehicle cluster formation control method and device

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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Hauptverfasser: LYU YONGSHEN, YAO JINGBO, XIN CHAOJUN, YANG YAJUN, YANG XUERONG
Format: Patent
Sprache:chi ; eng
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CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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creator LYU YONGSHEN
YAO JINGBO
XIN CHAOJUN
YANG YAJUN
YANG XUERONG
description 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
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subjects CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
title Unmanned aerial vehicle cluster formation control method and device
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