Virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation

The invention discloses a virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation. According to the method, the unmanned aerial vehicles are superposed with formation keeping virtual potential fields based on heterogeneo...

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Bibliographic Details
Main Authors QIN MENG, YU YAN, ZHOU RUI, ZHAO ZHENGNING, ZENG YONG, XI ZAIJIE
Format Patent
LanguageChinese
English
Published 22.07.2022
Subjects
CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Summary:The invention discloses a virtual potential field cooperative obstacle avoidance topology control method based on heterogeneous unmanned aerial vehicle formation. According to the method, the unmanned aerial vehicles are superposed with formation keeping virtual potential fields based on heterogeneous formation datum points according to heterogeneous cluster improved dynamic situation fields, cluster networking communication relations among the heterogeneous unmanned aerial vehicles are integrated, a heterogeneous unmanned aerial vehicle dynamic autonomous cooperative obstacle avoidance control algorithm is adopted, autonomous cooperative obstacle avoidance processing is carried out on multiple static/dynamic obstacles, and the unmanned aerial vehicles are effectively prevented from being damaged. The formation can be dynamically adjusted in real time to adapt to obstacle states of different numbers, different distributions and different dynamic characteristics, a predetermined basic formation is synchronousl
Bibliography:Application Number: CN202210703592