Multi-unmanned aerial vehicle system urban irregular region traffic patrol method

The invention relates to the field of multi-unmanned-aerial-vehicle cooperative control, in particular to a method for traffic patrol of urban irregular areas through a multi-unmanned-aerial-vehicle system. The invention provides a multi-unmanned aerial vehicle system urban irregular region traffic patrol method. The method comprises the following steps: S1, establishing an irregular mathematical model for urban traffic patrol, and forming an unmanned aerial vehicle flight corridor boundary; s2, constructing a distributed algorithm system framework, and setting the capability range of the unmanned aerial vehicle; s3, constructing a virtual navigator according to the extension direction of the urban traffic patrol irregular area; and S4, designing a controller applied to the urban irregular region traffic patrol of the multi-unmanned aerial vehicle system, wherein the controller mainly comprises a virtual repulsive force, a virtual elastic force, a damping force, a forward guiding force and an active reconstru