MULTIPLE UNMANNED AERIAL VEHICLE COOPERATIVE CONTROL METHOD AND SYSTEM BASED ON VISION AND PERFORMANCE CONSTRAINTS

A multiple unmanned aerial vehicle cooperative control method and system based on vision and performance constraints. The method comprises: selecting an optimal pilot from an unmanned system of a sub-task, and a follower detecting, on the basis of vision, a mark carried by the pilot, so as to acquir...

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Hauptverfasser: MAO, Jianxu, NIE, Jingmou, ZHU, Qing, LIN, Jie, ZHANG, Hui, ZHONG, Hang, TANG, Yongpeng, WANG, Yaonan, MIAO, Zhiqiang
Format: Patent
Sprache:chi ; eng ; fre
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Zusammenfassung:A multiple unmanned aerial vehicle cooperative control method and system based on vision and performance constraints. The method comprises: selecting an optimal pilot from an unmanned system of a sub-task, and a follower detecting, on the basis of vision, a mark carried by the pilot, so as to acquire a relative posture of the follower relative to the pilot (S2); designing an error transformation method that is based on a predetermined task performance specification (S4); and designing a PID control law of the follower according to a transformed error, so as to ensure that the follower follows the pilot according to predetermined task performance, and finally achieve the goal of autonomous cooperative control of multiple unmanned aerial vehicles (S5). By means of the method and system, multi-dimensional effective cooperation of time, space, tasks, etc., can be realized in an environment in which GPS is missing, thereby meeting the requirements of miniaturization, intelligentization and autonomization. L'invent