CN105974939B - 无人机编队阵型自动生成方法及装置 - Google Patents
无人机编队阵型自动生成方法及装置 Download PDFInfo
- Publication number
- CN105974939B CN105974939B CN201610591507.8A CN201610591507A CN105974939B CN 105974939 B CN105974939 B CN 105974939B CN 201610591507 A CN201610591507 A CN 201610591507A CN 105974939 B CN105974939 B CN 105974939B
- Authority
- CN
- China
- Prior art keywords
- formation
- unmanned plane
- displacement
- unmanned
- repulsion
- 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.)
- Active
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 197
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims abstract description 75
- 230000009466 transformation Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 19
- 238000004590 computer program Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000003491 array Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000009828 non-uniform distribution Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610591507.8A CN105974939B (zh) | 2016-07-25 | 2016-07-25 | 无人机编队阵型自动生成方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610591507.8A CN105974939B (zh) | 2016-07-25 | 2016-07-25 | 无人机编队阵型自动生成方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105974939A CN105974939A (zh) | 2016-09-28 |
CN105974939B true CN105974939B (zh) | 2018-12-28 |
Family
ID=56950870
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610591507.8A Active CN105974939B (zh) | 2016-07-25 | 2016-07-25 | 无人机编队阵型自动生成方法及装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105974939B (zh) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106527000A (zh) * | 2016-12-18 | 2017-03-22 | 吴凡 | 像素装置及显示方法及系统 |
CN106873621B (zh) * | 2017-02-26 | 2020-02-21 | 南京航空航天大学 | 一种基于拉格朗日方程的无人机编队队形控制算法 |
CN108445914B (zh) * | 2018-06-06 | 2021-04-09 | 厦门大学 | 一种基于uwb定位的无人机编队表演系统及其实现方法 |
CN108563240B (zh) * | 2018-07-26 | 2020-09-29 | 电子科技大学 | 一种大规模微型无人机的编队及控制方法 |
CN109634310B (zh) * | 2019-03-01 | 2021-08-20 | 郑州大学 | 一种基于自适应多机器人优化编队控制方法及系统 |
CN110320929B (zh) * | 2019-06-04 | 2022-03-29 | 杭州电子科技大学 | 一种自主式无人机群目标跟随避障方法 |
CN110215702B (zh) * | 2019-06-27 | 2022-07-29 | 网易(杭州)网络有限公司 | 游戏中编组的控制方法和控制装置 |
CN110580057B (zh) * | 2019-09-26 | 2023-03-31 | 哈尔滨工程大学 | 一种基于圆周分层规划的uuv集群编队队形形成方法 |
CN111273685B (zh) * | 2020-01-21 | 2023-06-20 | 沈阳航空航天大学 | 一种异构多无人机自主聚集、分离及合并集群方法 |
CN111830974A (zh) * | 2020-06-30 | 2020-10-27 | 珠海云洲智能科技有限公司 | 无人船位置分配策略确定方法、装置、设备及存储介质 |
CN112596536A (zh) * | 2020-11-19 | 2021-04-02 | 一飞(海南)科技有限公司 | 集群无人机表演画面的方法、产品、存储介质、电子设备 |
CN112711268B (zh) * | 2020-12-01 | 2023-06-23 | 一飞智控(天津)科技有限公司 | 迫降路径规划方法、系统、无人机、处理终端及存储介质 |
CN113139895B (zh) * | 2021-04-29 | 2024-07-02 | 广州亿航智能技术有限公司 | 无人机编队表演阵型图的设计方法、终端及存储介质 |
CN117389293B (zh) * | 2023-10-31 | 2024-05-24 | 广州天海翔航空科技有限公司 | 巡检无人机飞行控制管理方法及系统 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101381004A (zh) * | 2008-08-20 | 2009-03-11 | 南京航空航天大学 | 基于大气阻力的微小卫星编队飞行控制方法及控制装置 |
CN102591358A (zh) * | 2012-03-12 | 2012-07-18 | 北京航空航天大学 | 一种多无人机的动态编队控制方法 |
CN103294063A (zh) * | 2012-02-27 | 2013-09-11 | 通用电气航空系统有限责任公司 | 用于通过相对导航系统辅助的编队飞行的方法 |
CN103324830A (zh) * | 2013-05-23 | 2013-09-25 | 西北工业大学 | 一种多无人机编队划分方法 |
CN104359473A (zh) * | 2014-10-24 | 2015-02-18 | 南京航空航天大学 | 一种动态环境下无人机编队飞行的协同航迹智能规划方法 |
CN104656663A (zh) * | 2015-02-15 | 2015-05-27 | 西北工业大学 | 一种基于视觉的无人机编队感知与规避方法 |
CN104836640A (zh) * | 2015-04-07 | 2015-08-12 | 西安电子科技大学 | 一种无人机编队分布式协作通信方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7469183B2 (en) * | 2005-01-24 | 2008-12-23 | International Business Machines Corporation | Navigating UAVs in formation |
US9407881B2 (en) * | 2014-04-10 | 2016-08-02 | Smartvue Corporation | Systems and methods for automated cloud-based analytics for surveillance systems with unmanned aerial devices |
-
2016
- 2016-07-25 CN CN201610591507.8A patent/CN105974939B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101381004A (zh) * | 2008-08-20 | 2009-03-11 | 南京航空航天大学 | 基于大气阻力的微小卫星编队飞行控制方法及控制装置 |
CN103294063A (zh) * | 2012-02-27 | 2013-09-11 | 通用电气航空系统有限责任公司 | 用于通过相对导航系统辅助的编队飞行的方法 |
CN102591358A (zh) * | 2012-03-12 | 2012-07-18 | 北京航空航天大学 | 一种多无人机的动态编队控制方法 |
CN103324830A (zh) * | 2013-05-23 | 2013-09-25 | 西北工业大学 | 一种多无人机编队划分方法 |
CN104359473A (zh) * | 2014-10-24 | 2015-02-18 | 南京航空航天大学 | 一种动态环境下无人机编队飞行的协同航迹智能规划方法 |
CN104656663A (zh) * | 2015-02-15 | 2015-05-27 | 西北工业大学 | 一种基于视觉的无人机编队感知与规避方法 |
CN104836640A (zh) * | 2015-04-07 | 2015-08-12 | 西安电子科技大学 | 一种无人机编队分布式协作通信方法 |
Non-Patent Citations (1)
Title |
---|
分布式多无人机编队飞行的阵形保持策略;李文皓;《系统仿真学报》;20071031;第19卷(第20期);全文 * |
Also Published As
Publication number | Publication date |
---|---|
CN105974939A (zh) | 2016-09-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105974939B (zh) | 无人机编队阵型自动生成方法及装置 | |
CN106125760B (zh) | 无人机编队路径自动规划方法及装置 | |
JP5346151B2 (ja) | 1組のヘッドを有するマルチヘッド複合材料貼付け機械についてのヘッド割当をモデリングするための方法、システム、および、コンピュータ可読媒体 | |
CN104965519B (zh) | 一种基于贝塞尔曲线的带落角约束的末制导方法 | |
CN106020223A (zh) | 飞行器的飞行控制方法、装置及系统 | |
CN108628171A (zh) | 一种用于船舶动力定位系统的改进推力分配方法 | |
Soler et al. | A generalized approach to non-layered fused filament fabrication | |
Paneva et al. | OptiTrap: Optimal trap trajectories for acoustic levitation displays | |
Ji et al. | Cmpcc: Corridor-based model predictive contouring control for aggressive drone flight | |
Musiyenko et al. | Simulation the behavior of robot sub-swarm in spatial corridors | |
US12106018B2 (en) | Method and apparatus for generating motion of object | |
Xu et al. | Stress-based continuous planar path planning for additive manufacturing | |
CN106327590B (zh) | 立体组合模型重合面积确定方法及装置 | |
EP4045238A1 (en) | Robot choreographer | |
CN104298345A (zh) | 一种人机交互系统的控制方法 | |
Zhang et al. | Designing a human-computer cooperation decision planning system for aircraft carrier deck scheduling | |
CN114472924B (zh) | 激光路径规划方法、系统、计算机及可读存储介质 | |
Somers et al. | Steering control in a flight Simulator using ACT-R | |
CN104658026B (zh) | 一种基于极坐标系的三维动画融合变形方法 | |
JP2014002696A (ja) | 設計データ生成装置、その生成方法及びプログラム | |
Filip | Extension of the Control System for the Magnetic Manipulator with a Non-Flat Surface | |
Perez et al. | Optimal trajectory smoothing for direct energy deposition additive manufacturing processes | |
US20170301127A1 (en) | Techniques for generating dynamic illustrations using principles of animation | |
Duan et al. | Complex Shape Formation Control for Swarms Using Artificial Potentials | |
Fellah et al. | Fuzzy/PSO Based Washout Filter for Inertial Stimuli Restitution in Flight Simulation |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180213 Address after: No. 309-9, service center, Chen Tong, Hexi District, Dongting Road, Hexi District, Tianjin, Tianjin Applicant after: Tianjin Yuanyu Technology Co.,Ltd. Address before: 100094 Beijing, Haidian District, northeast Wang West Road, building 8, building 2, area 203, 9 Applicant before: ZEROTECH (BEIJING) INTELLIGENCE TECHNOLOGY Co.,Ltd. |
|
CB02 | Change of applicant information |
Address after: No. 309-9, Dongtang science and Technology Business District Service Center, 20 Dongting Road, Hexi District, Tianjin Applicant after: Tianjin Yuandu Technology Co.,Ltd. Address before: 300220 Hexi District, Tianjin Dongting Road 20, Chen Tang science and Technology Business District Service Center 309-9. Applicant before: Tianjin Yuanyu Technology Co.,Ltd. |
|
CB02 | Change of applicant information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee after: Hebei xiong'an Yuandu Technology Co.,Ltd. Address before: No. 309-9, Dongtang science and Technology Business District Service Center, 20 Dongting Road, Hexi District, Tianjin Patentee before: Tianjin Yuandu Technology Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20200928 Address after: 102100 building 27, yard 8, Fenggu 4th Road, Yanqing garden, Zhongguancun, Yanqing District, Beijing 1916 Patentee after: Beijing Yuandu Internet Technology Co.,Ltd. Address before: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee before: Hebei xiong'an Yuandu Technology Co.,Ltd. |