CN103713641A - Formation splitting method of aircraft intensive autonomous formation - Google Patents
Formation splitting method of aircraft intensive autonomous formation Download PDFInfo
- Publication number
- CN103713641A CN103713641A CN201310705409.9A CN201310705409A CN103713641A CN 103713641 A CN103713641 A CN 103713641A CN 201310705409 A CN201310705409 A CN 201310705409A CN 103713641 A CN103713641 A CN 103713641A
- Authority
- CN
- China
- Prior art keywords
- formation
- node
- aircraft
- coordinate system
- turning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a formation splitting method of aircraft intensive autonomous formation and belongs to technical field of flight control. The formation splitting method comprises the following steps that: aircraft formation modeling is performed; and aircraft formation is in formation flight according to a rigid body swerve form before formation splitting, geometric position relations of each node in a formation trajectory coordinate system is kept constant, and in a formation splitting process, the nodes are in formation flight according to a particle swerve form or a deformation swerve form. With the formation splitting method of the invention adopted, complexity and difficulty for processing collisions between the nodes in intensive formation splitting can be decreased.
Description
Technical field
The formation method for splitting that the present invention relates to the intensive autonomous formation of a kind of aircraft, belongs to flight control technology field, is specifically related to a kind of aircraft that is applicable to and under intensive autonomous formation, reasonably utilizes different turning forms to realize formation fractionation.
Background technology
In recent years, many countries drop into a large amount of manpower and materials in the research of the autonomous formation flight of aircraft, highly dense aircraft is formed into columns and in carrying out various aerial missions, is had again very large advantage, and during the collaborative flight of close/intra and formation change, between plot point, anticollision problem is an emphasis of this area research.
The in the situation that of multi-aircraft close/intra, distance between aircraft and aircraft approaches minimum safe distance, and for a certain given aircraft in forming into columns, because it is distributed with other aircraft around, lack free movement space, this makes the collision prevention of this aircraft motor-driven (for example evading the unexpected motion that contiguous aircraft produces due to various random disturbance or some emergency case or fault), and, than more difficult and complicated in loose or closely formation situation, this is also the problem that in close/intra situation, formation control system need to be considered.On the other hand, restriction and cost control due to aircraft useful load, make it be not easy to increase extra anticollision equipment, but under the overall background of networking autonomous formation flight, require aircraft to be all equipped with group-net communication module, between aircraft, can utilize formation Data-Link to interconnect, carry out the Real-Time Sharing of relevant information, this makes to carry out the control of close/intra anticollision by formation Data-Link becomes possibility.
Cruising missile during multi-aircraft is formed into columns is formed into columns, and the fractionation of flight pattern is controlled the guided missile that can be used for carrying out terminal guidance section and hived off.Formation is done as a whole, the feature of its motion is closely related with the formation attributes such as inner member's characteristic, control method, organizational form of forming into columns, only with regard to the turning motion (or curvilinear motion) of forming into columns, these three kinds of forms that particle is turned with regard at least existing, rigid body is turned and deformation is turned, different forms is reflecting form into columns inner different cyberrelationship and steering logic.The formation of reasonably utilizing these turning forms can solve close/intra splits problem.
Summary of the invention
The invention provides the formation method for splitting of the intensive autonomous formation of a kind of aircraft.Three kinds of forms of formation turning motion comprise that rigid body is turned, particle is turned and deformation is turned, effective and reasonable this three kinds of turning motion forms of utilizing of the present invention, and the formation that has solved close/intra splits problem.
Formation method for splitting provided by the invention, comprises the steps:
Step 1: aircraft formation modeling;
Step 2: formation splits: aircraft formation is according to the formation flight of rigid body turning form before formation splits, and it is constant that each node maintains its geometry site in formation trajectory coordinate system, in fractionation formation process, node is according to the formation flight of particle turning form.In described fractionation formation process, node also can become the formation flight of turning form according to row.
The invention has the advantages that:
Complexity and the difficulty of collision conflict between processing node when the present invention effectively reduces close/intra and hives off.
Accompanying drawing explanation
Fig. 1: the rigid body turning schematic diagram of the intensive autonomous formation of aircraft in the present invention;
Fig. 2: the particle turning schematic diagram of the intensive autonomous formation of aircraft in the present invention;
Fig. 3: the deformation turning schematic diagram of the intensive autonomous formation of aircraft in the present invention;
Fig. 4: the problem schematic diagram running in close/intra formation split process in the present invention;
Fig. 5: the internodal relative motion relation schematic diagram of forming into columns;
Fig. 6: intermediate cam shape close/intra node location coordinate diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The formation method for splitting of the intensive autonomous formation of a kind of aircraft that the present invention proposes, it is doing as a whole large formation in geometric configuration and institutional framework, to be divided into the son formation that several scales are less according to real needs that formation splits, and then carries out respectively the process of the concrete upper strata of each small formation task.In fractionation, small formation has retained its geometric configuration in original large formation substantially.Formation method for splitting provided by the invention comprises following concrete steps:
Step 1: aircraft formation modeling.
The flight formation retentive control system of present stage, is all based on lead aircraft-wing plane pattern, adopts wing plane to follow the formation mode of lead aircraft, and lead aircraft can be that true lead aircraft can be also virtual lead aircraft.Under lead aircraft-wing plane formation mode, the motion model expansion that the motion model that multinode is formed into columns in turning process can be formed into columns by binode obtains, this sentences binode and forms into columns and to set up the motion model of aircraft formation flight for example, as shown in Figure 5, and W (N wherein
w) and L (N
l) be two nodes of this formation, V
wand V
lbe respectively the flying speed of node W and node L,
with
be respectively the flight path drift angle of node W and node L,
d be node W to the distance of node L, x, y is the Orthogonal Decomposition of d on the velocity reversal of W.
(velocity reversal of node W is x axle to take the trajectory coordinate system of node W, with the direction of speed vertical-right be y axle) for relative coordinate system, ground coordinate is fixed coordinate system, utilize the formula in theoretical mechanics, absolute velocity=relative velocity+convected velocity, the kinematical equation of setting up node L and node W is as follows:
Wherein, V
l, V
wbe respectively the speed of node L and node W, d be node W to the distance of node L,
driftage drift angle for node W.
Above formula (1) is decomposed in the trajectory coordinate system of node W:
X wherein, y is the distance d of the relative node L of the node W component on the node W trajectory coordinate system longitudinal axis and transverse axis.Adopt low-angle and microvariations to suppose formula (2) at point (x
0, y
0) linearization around obtains:
In addition, in the design of outer shroud formation control system, the flight path drift angle of node L and node W and the simplified model of speed are:
Wherein,
and V
lc, V
wcflight path drift angle and speed controlled quentity controlled variable for outer shroud, act on interior ring flight control system as instruction,
be respectively the time constant of node L and the response of node W flight path drift angle,
be respectively the time constant of node L and node W speed responsive.
Formula (3) and formula (4) and (5) respectively simultaneous obtain the motion model of node L and node W:
Step 2: formation splits.
Aircraft formation is according to the formation flight of rigid body turning form before formation splits, and it is constant that each node maintains its geometry site in formation trajectory coordinate system, and in fractionation formation process, node is according to the formation flight of particle turning form.
Described rigid body is turned, and refers to and forms into columns integral body in turning process, and each member maintains a kind of turning form of its geometric position in formation trajectory coordinate system.When having in the situation of true length machine or virtual length machine (general designation navigator point), each member maintains its position in the trajectory coordinate system of true length machine or virtual length machine.
Wherein trajectory Coordinate system definition is as follows:
1, initial point O is taken at aircraft barycenter place, and coordinate system and aircraft are connected;
2, x axle overlaps consistent with flying speed V;
3, y axle be positioned at comprise flying speed V vertical guide, vertical with x axle and point to below;
4, z axle is perpendicular to Oxy plane, and it points to according to the right-hand rule determines.
It is example that the rigid body that the two-shipper of take is formed into columns is turned, and Figure 1A and Figure 1B turn and illustrate to illustrate formation rigid body, and wherein small circle i, j represent two formation nodes, V
iflying speed for formation leader i;
for the flight path drift angle of formation leader i, reference value x and y are node j and the deviation of lead aircraft i under trajectory coordinate system.From Figure 1B, can find out, at earth axes, whole formation similarly is that a rigid body is in spatial movement, the turning of this form is the most common, it comes from the controller design of forming into columns, and keeps the relative reference distance between formation member (node j) and navigator's point (lead aircraft i) constant.Relative distance is the direct relation form into columns keeping between member; Velocity is the most direct controlled quentity controlled variable of formation control; On velocity reversal, the size of speed is main controlled quentity controlled variable; In speed vertical direction, flight path drift angle is main controlled quentity controlled variable.So in formation flight process, if relative reference distance (being the spacing instruction in formation control device) is not done to extra adjustment, the rigid body often of turning is so turned.
Described particle is turned, and refers to and forms into columns integral body in turning process, and each member maintains a kind of turning form of its geometric position in earth axes.
As shown in Figure 2 A and 2 B, the binode that node j and node i form is formed into columns and is carried out particle turning, at earth axes, whole formation similarly is that a particle is in spatial movement, it can make formation member the semidiameter turn such as when turning, do, the excessive speed causing of radius of turn or the overload phenomenon that exceeds standard while having avoided doing steady turn due to outside member in rigid body turning process.Particle is turned and has been changed in essence the inner structure of forming into columns, and on the one hand, need to adjust according to actual needs following or subordinate relation between formation member; On the other hand, the spacing instruction of formation control device need be adjusted according to the flight path drift angle of form into columns whole (or navigator's point), the transition matrix that in flight course, the reference distance of earth axes is tied to trajectory coordinate system by ground coordinate converts in real time, the spacing instruction d that particle is turned in two dimensional surface
rfor:
Wherein, Z
j, Z
ithat node j and node i are at the lateral coordinates of earth axes, X
j, X
ibe node j and node i at the forward direction coordinate of earth axes,
for the flight path drift angle of node i, x and y are node j and the deviation of node i under trajectory coordinate system, reference value x
eand y
eit is node j and the i deviation under earth axes.
Cruising missile during multi-aircraft is formed into columns is formed into columns, and the fractionation of flight pattern is controlled the guided missile that can be used for carrying out terminal guidance section and hived off.In the process splitting, if the form of turning with rigid body in each subgroup when carrying out curvilinear motion, " whipping " phenomenon of turning due to rigid body so, just has the danger of collision conflict, as Fig. 4 between adjacent subgroup.
If now each subgroup is switched to particle and turns to carry out curvilinear motion, just can avoid this conflict, the thought of the flight pattern method for splitting that Here it is turns based on particle.
The present invention also provides a kind of deformation turning form, and described deformation is turned, and refers in turning process, and a kind of turning form of distortion has occurred the whole geometric configuration of forming into columns.As shown in Figure 3 A and Figure 3 B, the aircraft that node k, j, i form is formed into columns and is carried out deformation turning, the turning of this form is usually passive, adjustment deliberately is not carried out in the instruction of formation control device, but because member follows in succession, (node k follows node j, node j follows node i) inertia produce, be similar to chain effect, but the mode of following of this distributed, contiguous formula has been relaxed the requirement to formation communication system in some sense.Described deformation is turned and can be combined with described rigid body turning and particle turning, and the formation that aircraft is formed into columns splits and controls.
embodiment:
Suppose that close/intra is that a triangle being comprised of 21 nodes is formed into columns.The a certain moment rises, and this formation is subject to the disturbance of malfunctioning node.For the purpose of convenient, if all node initial velocities are consistent, for 0.44Ma (150m/s), speed adjustable extent is limited in 0.3～0.6Ma (100-200m/s), in Table 1, initial position coordinate is shown in Fig. 6, and nodal pitch is 220m, safe distance is 200m, and the target location of node 1 is virtual lead aircraft.
Table 1 triangle formation node major parameter
First the form of turning with rigid body of forming into columns is moved to target area, after approaching target area, fly to respectively 3 sub-goals (target 1 in accompanying drawing 4, target 2 and target 3), according to the principle that prevents collision between the high depressed trajectory of formation node and node as far as possible, form into columns and to be divided into 1(1～6, subgroup, 8,9,13), subgroup 2(7,11,12,16～18), subgroup 3(10,14,15,19～21), scene shown in simulation drawing 4.Before splitting, navigator's node is the dummy node overlapping with node 1, forms into columns and turns and carry out curvilinear motion with rigid body.
Split after instruction triggers, navigator's node of subgroup 1, subgroup 2, subgroup 3 is respectively node 1, node 7, node 10, forms into columns and is switched to particle turning.
At t=5.6s, in the process of 20.5s, form into columns to use rigid body to turn, whole formation rigid body seemingly in earth axes, not only has translation but also has rotation; When t=32.5s, form into columns and start to hive off; Three subgroups being led respectively by node 1, node 7, node 10 are keeping the pattern formation that hives off in earth axes the zero hour to three directions fly to (as Fig. 4) substantially; When t=39.8s, three subgroups separate substantially, the inner geometry relation of three subgroups contrast when starting to hive off, three subgroups are just as three large particles, only carried out translation and do not rotated, thereby the subgroup of being led by node 7, node 10 in the process of hiving off do not have " whipping " phenomenon, clash with the subgroup of being led by node 1.
Simulation result has shown feasibility and the using value of the formation method for splitting based on particle turning, complexity and the difficulty of collision conflict between processing node when effectively reducing in some cases close/intra and hiving off, it is to be noted, after particle turning, the position of subgroup navigator's node in the direction of motion of subgroup changed, in some situation, be unfavorable for the upper strata task of forming into columns, because the node of position in the place ahead be the acquisition external environmental information of morning more, the redistributing of node now needs to navigate, as the node equipment specific installation that navigates, needing so again to switch to rigid body turns or designs other control method of hiving off.
Claims (7)
1. a formation method for splitting for the intensive autonomous formation of aircraft, is characterized in that:
Step 1: aircraft formation modeling;
Step 2: formation splits: aircraft formation is according to the formation flight of rigid body turning form before formation splits, and it is constant that each node maintains its geometry site in formation trajectory coordinate system, in fractionation formation process, node is according to the formation flight of particle turning form.
2. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that: split node in formation process and become the formation flight of turning form according to row.
3. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that:
The binode formation of take is set up the motion model of aircraft formation flight as example, trajectory coordinate with node W is relative coordinate system, ground coordinate is fixed coordinate system, utilize the formula in theoretical mechanics, absolute velocity=relative velocity+convected velocity, the kinematical equation of setting up node L and node W is as follows:
Wherein, V
l, V
wbe respectively the speed of node L and node W, d be node W to the distance of node L,
driftage drift angle for node W;
Above formula (1) is decomposed in the trajectory coordinate system of node W:
X wherein, y is the distance d of the relative node L of the node W component on the node W trajectory coordinate system longitudinal axis and transverse axis; Adopt low-angle and microvariations to suppose formula (2) at point (x
0, y
0) linearization around obtains:
In addition, in the design of outer shroud formation control system, the flight path drift angle of node L and node W and the simplified model of speed are:
Wherein,
and V
lc, V
wcflight path drift angle and speed controlled quentity controlled variable for outer shroud, act on interior ring flight control system as instruction,
be respectively the time constant of node L and the response of node W flight path drift angle,
be respectively the time constant of node L and node W speed responsive;
Formula (3), formula (4) and formula (5) respectively simultaneous obtain the motion model of node L and node W:
4. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that:
Described rigid body is turned, and refers to and forms into columns integral body in turning process, and each member maintains a kind of turning form of its geometric position in formation trajectory coordinate system; When having in the situation of true length machine or virtual length machine, each member maintains its position in the trajectory coordinate system of true length machine or virtual length machine; At earth axes, whole formation similarly be a rigid body in spatial movement, in the controller design of forming into columns, keep formation member with the relative reference navigating between point apart from constant.
5. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that:
Described particle is turned, refer to and form into columns integral body in turning process, each member maintains a kind of turning form of its geometric position in earth axes, at earth axes, whole formation similarly is that a particle is in spatial movement, it can make formation member the semidiameter turn such as when turning, do, the spacing instruction of formation control device is according to the whole flight path drift angle adjustment of forming into columns, the transition matrix that in flight course, the reference distance of earth axes is tied to trajectory coordinate system by ground coordinate converts in real time, the spacing instruction d that particle is turned in two dimensional surface
rfor:
Wherein, Z
j, Z
ithat node j and node i are at the lateral coordinates of earth axes, X
j, X
ibe node j and node i at the forward direction coordinate of earth axes,
for the flight path drift angle of node i, x and y are node j and the deviation of node i under trajectory coordinate system, reference value x
eand y
eit is node j and the i deviation under earth axes.
6. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that:
Described deformation is turned, and refers in turning process, and a kind of turning form of distortion has occurred the whole geometric configuration of forming into columns, and the inertia of in succession being followed by member produces.
7. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that: described trajectory Coordinate system definition is as follows:
1, initial point O is taken at aircraft barycenter place, and coordinate system and aircraft are connected;
2, x axle overlaps consistent with flying speed V;
3, y axle be positioned at comprise flying speed V vertical guide, vertical with x axle and point to below;
4, z axle is perpendicular to Oxy plane, and it points to according to the right-hand rule determines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310705409.9A CN103713641B (en) | 2013-12-19 | 2013-12-19 | The formation method for splitting of the intensive autonomous formation of a kind of aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310705409.9A CN103713641B (en) | 2013-12-19 | 2013-12-19 | The formation method for splitting of the intensive autonomous formation of a kind of aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103713641A true CN103713641A (en) | 2014-04-09 |
| CN103713641B CN103713641B (en) | 2016-02-17 |
Family
ID=50406692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310705409.9A Active CN103713641B (en) | 2013-12-19 | 2013-12-19 | The formation method for splitting of the intensive autonomous formation of a kind of aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103713641B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503457A (en) * | 2014-10-24 | 2015-04-08 | 南京航空航天大学 | Turning anti-collision control method for UAV formation flight |
| CN105425817A (en) * | 2015-12-09 | 2016-03-23 | 周润华 | Multi-unmanned plane marshalling flight control system |
| CN105589470A (en) * | 2016-01-20 | 2016-05-18 | 浙江大学 | Multi-UAVs distributed formation control method |
| CN106054923A (en) * | 2016-07-04 | 2016-10-26 | 苏州光之翼智能科技有限公司 | Asymmetric unmanned aerial vehicle clustering system |
| CN108398958A (en) * | 2018-03-14 | 2018-08-14 | 广州亿航智能技术有限公司 | Unmanned plane formation route matching method, apparatus and storage medium |
| CN110554607A (en) * | 2019-09-17 | 2019-12-10 | 山东大学 | Cooperative control method and system with obstacle avoidance and navigation protection tasks for multi-Euler-Lagrange system |
| CN110737283A (en) * | 2019-11-04 | 2020-01-31 | 中国人民解放军军事科学院国防科技创新研究院 | visual cluster-oriented formation decoupling control method |
| CN111176335A (en) * | 2020-04-07 | 2020-05-19 | 成都纵横自动化技术股份有限公司 | Formation flight guiding method and related device |
| CN111399538A (en) * | 2020-03-27 | 2020-07-10 | 西北工业大学 | Distributed unmanned aerial vehicle flying around formation method based on time consistency |
| CN113359848A (en) * | 2021-07-06 | 2021-09-07 | 西北工业大学 | Unmanned aerial vehicle formation generation-switching flight path planning method based on waypoints |
| CN114089763A (en) * | 2021-11-19 | 2022-02-25 | 江苏科技大学 | Multi-underwater robot formation and collision avoidance control method for submarine optical cable laying |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5992065A (en) * | 1997-01-24 | 1999-11-30 | Arthur H. Bond | Aerial message system |
| US20050165516A1 (en) * | 2002-07-16 | 2005-07-28 | Honeywell International, Inc. | Vehicle position keeping system |
| CN102073320A (en) * | 2010-11-19 | 2011-05-25 | 东南大学 | Orbit expansion based multi-robot tracing formulation control method |
| GB2476149A (en) * | 2009-12-02 | 2011-06-15 | Selex Communications Spa | Formation flight control |
| CN102591358A (en) * | 2012-03-12 | 2012-07-18 | 北京航空航天大学 | Multi-UAV (unmanned aerial vehicle) dynamic formation control method |
| CN102901498A (en) * | 2012-09-21 | 2013-01-30 | 北京航空航天大学 | Method for cooperative search and dynamic task allocation of unmanned aerial vehicle teams under uncertain environment |
| CN103369618A (en) * | 2012-03-16 | 2013-10-23 | 空中客车运营简化股份公司 | Method and system for transmitting data in a network of aircraft in flight |
-
2013
- 2013-12-19 CN CN201310705409.9A patent/CN103713641B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5992065A (en) * | 1997-01-24 | 1999-11-30 | Arthur H. Bond | Aerial message system |
| US20050165516A1 (en) * | 2002-07-16 | 2005-07-28 | Honeywell International, Inc. | Vehicle position keeping system |
| GB2476149A (en) * | 2009-12-02 | 2011-06-15 | Selex Communications Spa | Formation flight control |
| CN102073320A (en) * | 2010-11-19 | 2011-05-25 | 东南大学 | Orbit expansion based multi-robot tracing formulation control method |
| CN102591358A (en) * | 2012-03-12 | 2012-07-18 | 北京航空航天大学 | Multi-UAV (unmanned aerial vehicle) dynamic formation control method |
| CN103369618A (en) * | 2012-03-16 | 2013-10-23 | 空中客车运营简化股份公司 | Method and system for transmitting data in a network of aircraft in flight |
| CN102901498A (en) * | 2012-09-21 | 2013-01-30 | 北京航空航天大学 | Method for cooperative search and dynamic task allocation of unmanned aerial vehicle teams under uncertain environment |
Non-Patent Citations (3)
| Title |
|---|
| 杜阳 等: "飞航导弹密集编队防碰撞控制器设计", 《SCIENTIFIC LOURNAL OF CONTROL ENGINEERING》, vol. 3, no. 3, 30 June 2013 (2013-06-30), pages 155 - 161 * |
| 穆晓敏 等: "飞航导弹高动态自主编队协同控制系统的建立与仿真", 《飞行力学》, vol. 28, no. 4, 31 August 2010 (2010-08-31), pages 59 - 63 * |
| 郝博 等: "导弹编队队形拆分重构与领弹继任控制器设计", 《弹箭与制导学报》, vol. 33, no. 1, 28 February 2013 (2013-02-28), pages 5 - 9 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503457A (en) * | 2014-10-24 | 2015-04-08 | 南京航空航天大学 | Turning anti-collision control method for UAV formation flight |
| CN105425817A (en) * | 2015-12-09 | 2016-03-23 | 周润华 | Multi-unmanned plane marshalling flight control system |
| CN105425817B (en) * | 2015-12-09 | 2018-06-22 | 深圳市峰创科技有限公司 | A kind of multiple no-manned plane organizes into groups flight control system |
| CN105589470A (en) * | 2016-01-20 | 2016-05-18 | 浙江大学 | Multi-UAVs distributed formation control method |
| CN106054923A (en) * | 2016-07-04 | 2016-10-26 | 苏州光之翼智能科技有限公司 | Asymmetric unmanned aerial vehicle clustering system |
| CN108398958A (en) * | 2018-03-14 | 2018-08-14 | 广州亿航智能技术有限公司 | Unmanned plane formation route matching method, apparatus and storage medium |
| CN108398958B (en) * | 2018-03-14 | 2021-04-23 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle formation path matching method and device and storage medium |
| CN110554607A (en) * | 2019-09-17 | 2019-12-10 | 山东大学 | Cooperative control method and system with obstacle avoidance and navigation protection tasks for multi-Euler-Lagrange system |
| CN110737283A (en) * | 2019-11-04 | 2020-01-31 | 中国人民解放军军事科学院国防科技创新研究院 | visual cluster-oriented formation decoupling control method |
| CN110737283B (en) * | 2019-11-04 | 2022-09-27 | 中国人民解放军军事科学院国防科技创新研究院 | Visual cluster-oriented formation decoupling control method |
| CN111399538B (en) * | 2020-03-27 | 2022-06-24 | 西北工业大学 | Distributed unmanned aerial vehicle flying around formation method based on time consistency |
| CN111399538A (en) * | 2020-03-27 | 2020-07-10 | 西北工业大学 | Distributed unmanned aerial vehicle flying around formation method based on time consistency |
| CN111176335A (en) * | 2020-04-07 | 2020-05-19 | 成都纵横自动化技术股份有限公司 | Formation flight guiding method and related device |
| CN111176335B (en) * | 2020-04-07 | 2020-08-14 | 成都纵横自动化技术股份有限公司 | Formation flight guiding method and related device |
| CN113359848A (en) * | 2021-07-06 | 2021-09-07 | 西北工业大学 | Unmanned aerial vehicle formation generation-switching flight path planning method based on waypoints |
| CN114089763A (en) * | 2021-11-19 | 2022-02-25 | 江苏科技大学 | Multi-underwater robot formation and collision avoidance control method for submarine optical cable laying |
| CN114089763B (en) * | 2021-11-19 | 2024-03-08 | 江苏科技大学 | Multi-underwater robot formation and collision prevention control method for submarine optical cable laying |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103713641B (en) | 2016-02-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103713641B (en) | The formation method for splitting of the intensive autonomous formation of a kind of aircraft | |
| CN110825113B (en) | Formation keeping method suitable for quad-rotor unmanned aerial vehicle cluster flight | |
| Floreano et al. | Science, technology and the future of small autonomous drones | |
| Cai et al. | A survey of small-scale unmanned aerial vehicles: Recent advances and future development trends | |
| CN110320930B (en) | Reliable transformation method for formation of multiple unmanned aerial vehicles based on Voronoi diagram | |
| Frank et al. | Hover, transition, and level flight control design for a single-propeller indoor airplane | |
| CN104536454B (en) | A kind of space-time synchronous matching process collaborative for double unmanned planes | |
| CN106774400B (en) | Unmanned aerial vehicle three-dimensional track guidance method based on inverse dynamics | |
| CN104216382B (en) | Spatial small aircraft formation flying control system | |
| CN112684807A (en) | Unmanned aerial vehicle cluster three-dimensional formation method | |
| CN113741518A (en) | Fixed-wing unmanned aerial vehicle cluster affine formation control method based on piloting following mode | |
| CN104281052A (en) | Behavior based navigator-follower multi-agent formation control method | |
| Ivanov et al. | Formation task in a group of quadrotors | |
| Kim et al. | UAV path planning for maximum visibility of ground targets in an urban area | |
| CN108614420A (en) | Star cluster grade satellite fault tolerant control method based on Non-Linear Programming | |
| CN103713642A (en) | Unmanned plane three dimensional route program method based on disturbed fluid dynamic system | |
| CN104881553A (en) | Single sliding block rolling spray mode variable centroid aircraft model and designing method for structural layout parameters thereof | |
| CN109557936A (en) | Anti-collision control method between the unmanned plane machine that hung down based on Artificial Potential Field Method | |
| Kang et al. | Development and flight test evaluations of an autonomous obstacle avoidance system for a rotary-wing UAV | |
| Tsay | Guidance and control laws for quadrotor UAV | |
| Ivanov et al. | Method of spheres for solving 3D formation task in a group of quadrotors | |
| Ivanov et al. | Method of circles for solving formation task in a group of quadrotor UAVs | |
| CN113359831A (en) | Cluster quad-rotor unmanned aerial vehicle path generation method based on task logic scheduling | |
| Yanhui et al. | Flight control system simulation platform for UAV based on integrating simulink with stateflow | |
| Iovino et al. | Implementation of a distributed flocking algorithm with obstacle avoidance capability for UAV swarming |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |