CN107121986A - The method that a kind of unmanned plane flight pattern of Behavior-based control is kept - Google Patents
The method that a kind of unmanned plane flight pattern of Behavior-based control is kept Download PDFInfo
- Publication number
- CN107121986A CN107121986A CN201710375866.4A CN201710375866A CN107121986A CN 107121986 A CN107121986 A CN 107121986A CN 201710375866 A CN201710375866 A CN 201710375866A CN 107121986 A CN107121986 A CN 107121986A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- formation
- behavior
- unmanned
- barrier
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 95
- 230000004888 barrier function Effects 0.000 claims abstract description 30
- 238000012360 testing method Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 11
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002834 transmittance Methods 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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the method that a kind of unmanned plane flight pattern of Behavior-based control is kept, methods described is：1) position of initialization unmanned plane and speed；2) position of unmanned plane in formation, 3 are designed) formation implements move-to-goal behavior and the spacing of each unmanned plane of real-time judge and barrier to unmanned plane as expected；When the safe distance for being smaller than setting of any unmanned plane and barrier, unmanned plane formation avoiding barrier, 4) whether the expection formation formed into columns of real-time judge unmanned plane be disturbed, and formation is recovered when formation is disturbed.The present invention can effectively ensure the formation that unmanned plane is formed into columns；The mode of whole formation avoidance is taken when running into barrier, it is to avoid independent unmanned plane barrier-avoiding method easily produces the problem of collision and destruction formation between machine, when formation is upset, also can quick-recovery formation soon.
Description
Technical field
This method is related to unmanned plane collaboration formation control field, more particularly to a kind of Behavior-based control unmanned plane flight pattern
The method of holding.
Technical background
People apply it to the flight pattern control of unmanned plane according to the animal cooperative phenomenon observed in living nature
In, in many similar intelligent body fields, it is required for intelligent body to keep fixed formation during motion and work,
This completes even more very important for military task.
Unmanned plane collaboration formation control is a problem of multiple no-manned plane with versatility and typicalness is coordinated, and it is many
The basis of unmanned plane coordination problem.Occur in that the unmanned plane of multiple no-manned plane composition is formed into columns at present, can completing for task has
Investigation, is encircled and suppressed, against the enemy, patrol etc., and the coordination in execution task between unmanned plane is very important.All in all many nothings
Man-machine flight pattern control is an of great value research, and application prospect is also quite varied.
The formation of multiple UAVs composition needs to carry out formation holding and team to complete a certain task in formation flight
Fractal transform, it is real now with being arrived at the destination in the environment of barrier.Need to complete the shape of certain formation when forming into columns and starting and advance
Into；Need to keep rank in the environment without barrier, need to change formation in the environment with the presence of barrier and kept away
Barrier；It is finally reached specified destination.
It is every to know and exchange that the control formed into columns in multiple no-manned plane in-flight, between unmanned plane needs mutual communication exchanges
The respective positional information of frame unmanned plane.Communication between unmanned plane is broadly divided into explicit and implicit two kinds of communication.Using implicit logical
What the multiple no-manned plane fleet system of news was relied on is the sensor of unmanned plane itself to realize other required unmanned machine informations
Obtain, and then realize that the communication between unmanned plane cooperates.Using revealed communication multiple no-manned plane fleet system rely on be certain
Medium realizes the transmission between information by a kind of jointly owned regulation.Radio communication can be used between such as unmanned plane
Technology, i.e., using ICP/IP protocol carry out unmanned plane between information exchange transmit, but communication bandwidth limit cause nothing
The man-machine bottleneck that easily gone wrong in the transmittance process of information.
Implicit communication either revealed communication has the problem of respective system is carried in itself.It may lead for this reason
The problem of causing exchanged information loss without reason or there is delay, can thus have an impact, or even make to the effect of communication
Into the instability problem of communication system.
The content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art to be protected there is provided a kind of unmanned plane flight pattern of Behavior-based control
The method held.
The method that the unmanned plane flight pattern of the Behavior-based control of the present invention is kept, comprises the following steps：
1) position of initialization unmanned plane and speed；
2) position of unmanned plane in formation is designed, determines the frame unmanned plane in formation to refer to unmanned plane；It is other nobody
Machine with reference to unmanned plane with keeping fixed distance and angle, and all unmanned planes obtain the distance with other unmanned planes in formation
And angle information；
3) formation implements move-to-goal behavior and the spacing of each unmanned plane of real-time judge and barrier to unmanned plane as expected；Institute
The barrier stated refers to the barrier on unmanned plane course line；
When the safe distance for being smaller than setting of any unmanned plane in unmanned plane formation and barrier, unmanned plane is compiled
Team's avoiding barrier simultaneously prevents collision between machine；Otherwise unmanned plane keeps rank advances and real-time judge itself and barrier to target location
Hinder the spacing of thing, the avoidance stage terminates；
4) whether the expection formation that real-time judge unmanned plane is formed into columns is disturbed, and when formation is disturbed, determines that a frame is normal
The unmanned plane of work is refers to unmanned plane, and other unmanned planes recover formation by default distance and angle with the unmanned plane；It is no
Then unmanned plane, which forms into columns to keep rank, marches to target point, terminates.
It is preferred that, described move-to-goal behavior refers to that unmanned plane is formed into columns and the row of desired locations is moved to from current location
For the i.e. behavior makes unmanned plane formation obtain an output vector for pointing to desired locations, so that unmanned plane is completed to specified
Desired locations motion；
Described avoid-obstacle behavior refers to that unmanned plane formation avoids the behavior collided with barrier；
Described formation keeps behavior to refer to that any unmanned plane is being compiled after unmanned plane is formed into columns and knows oneself institute into formation
Mutual alignment in team with other unmanned planes also determines that unmanned plane keeps team by it with the mutual alignment with reference to unmanned plane
Shape.
It is preferred that, during formation flight, position of the unmanned machine testing oneself in formation troop, when discovery position
With predeterminated position it is inconsistent when, that is, think that flight pattern is disturbed；
The method of self-position is determined to move navigator's reference point method and neighbours' reference point method simultaneously,
1) navigator's reference point method：A frame unmanned plane is assigned in formation first as referring to unmanned plane, remaining unmanned plane
Position then using the position with reference to unmanned plane as with reference to determining the desired location from formation；It is not required to reference to unmanned plane
The stable formation formed into columns to be considered how, and other unmanned planes need the formation for keeping determining all the time；
2) neighbours' reference point method：In the formation of multiple no-manned plane, each frame unmanned plane is selected and oneself is nearest in formation
The position of unmanned plane be used as reference point, then determined according to the position of neighbours' unmanned plane from the position in formation.
The beneficial effect of technical scheme that this method is provided is：
Some basic problems of multiple no-manned plane flight pattern holding are first analyzed, then specific design the three of formation control
Plant basic act.In formation holding behavior, navigator's reference point method and neighbours' reference point method is respectively adopted to carry out formation
Design so that flight pattern can faster shape, formation implements move-to-goal behavior and real-time judge to unmanned plane as expected
The spacing of each unmanned plane and barrier；Whether the expection formation that real-time judge unmanned plane is formed into columns is disturbed, when formation is disturbed,
The unmanned plane of a frame normal work is determined to refer to unmanned plane, other unmanned planes are by default distance and angle with the unmanned plane
Recover formation.The present invention can effectively ensure the formation that unmanned plane is formed into columns；Whole formation avoidance is taken when running into barrier
Mode, it is to avoid independent unmanned plane barrier-avoiding method easily produces the problem of collision and destruction formation between machine, it also avoid independent nothing
Man-machine barrier-avoiding method formation needs the recovery process of complexity once upset, and the inventive method takes weight when formation is disturbed
Newly selection carries out fast quick-recovery with reference to the method for unmanned plane, and just with navigator's unmanned plane and adjacent to nobody during hold queue
The mode that machine is combined carries out formation holding and judgement.
Brief description of the drawings
Fig. 1 is navigator's reference point method schematic diagram；
Tu2Shi roads neighbours' reference point method schematic diagram；
Fig. 3 is the flow chart of this method.
Embodiment
As shown in figure 1, the method that a kind of unmanned plane flight pattern of Behavior-based control of the present invention is kept comprises the following steps：
1) position of initialization unmanned plane and speed；
2) position of unmanned plane in formation is designed, determines the frame unmanned plane in formation to refer to unmanned plane；It is other nobody
Machine with reference to unmanned plane with keeping fixed distance and angle, and all unmanned planes obtain the distance with other unmanned planes in formation
And angle information；
3) formation implements move-to-goal behavior and the spacing of each unmanned plane of real-time judge and barrier to unmanned plane as expected；Institute
The barrier stated refers to the barrier on unmanned plane course line；
When the safe distance for being smaller than setting of any unmanned plane in unmanned plane formation and barrier, unmanned plane is compiled
Team's avoiding barrier simultaneously prevents collision between machine；Otherwise unmanned plane keeps rank advances and real-time judge itself and barrier to target location
Hinder the spacing of thing, the avoidance stage terminates；
4) whether the expection formation that real-time judge unmanned plane is formed into columns is disturbed, and when formation is disturbed, determines that a frame is normal
The unmanned plane of work is refers to unmanned plane, and other unmanned planes recover formation by default distance and angle with the unmanned plane；It is no
Then unmanned plane, which forms into columns to keep rank, marches to target point, terminates.
It is preferred that, described move-to-goal behavior refers to that unmanned plane is formed into columns and the row of desired locations is moved to from current location
For the i.e. behavior makes unmanned plane formation obtain an output vector for pointing to desired locations, so that unmanned plane is completed to specified
Desired locations motion；
Described avoid-obstacle behavior refers to that unmanned plane formation avoids the behavior collided with barrier；
Described formation keeps behavior to refer to that any unmanned plane is being compiled after unmanned plane is formed into columns and knows oneself institute into formation
Mutual alignment in team with other unmanned planes also determines that unmanned plane keeps team by it with the mutual alignment with reference to unmanned plane
Shape.
It is preferred that, during formation flight, position of the unmanned machine testing oneself in formation troop, when discovery position
With predeterminated position it is inconsistent when, that is, think that flight pattern is disturbed；
As illustrated in fig. 1 and 2, the method for self-position is determined to move navigator's reference point method and neighbours' reference point method simultaneously,
As shown in figure 1,1) navigator's reference point method：A frame unmanned plane is assigned in formation first as referring to unmanned plane, its
The position of remaining unmanned plane is then using the position with reference to unmanned plane as with reference to determining the desired location from formation；With reference to
The formation that unmanned plane is formed into columns without the concern for how stable, and other unmanned planes need all the time keep what is determined
Formation；
As shown in Fig. 2 2) neighbours' reference point method：In the formation of multiple no-manned plane, the selection of each frame unmanned plane with oneself
The position of nearest unmanned plane is used as reference point in formation, is then determined according to the position of neighbours' unmanned plane from formation
In position.
Claims (3)
1. the method that a kind of unmanned plane flight pattern of Behavior-based control is kept, it is characterised in that comprise the following steps：
1) position of initialization unmanned plane and speed；
2) position of unmanned plane in formation is designed, determines the frame unmanned plane in formation to refer to unmanned plane；Other unmanned planes with
Keep fixed distance and angle with reference to unmanned plane, and all unmanned planes obtain with formation other unmanned planes away from walk-off angle
Spend information；
3) formation implements move-to-goal behavior and the spacing of each unmanned plane of real-time judge and barrier to unmanned plane as expected；Described
Barrier refers to the barrier on unmanned plane course line；
When the safe distance for being smaller than setting of any unmanned plane in unmanned plane formation and barrier, unmanned plane, which is formed into columns, hides
Obstacle avoidance thing simultaneously prevents collision between machine；Otherwise unmanned plane keeps rank and advanced and real-time judge itself and barrier to target location
Spacing, the avoidance stage terminates；
4) whether the expection formation that real-time judge unmanned plane is formed into columns is disturbed, and when formation is disturbed, determines a frame normal work
Unmanned plane to refer to unmanned plane, other unmanned planes recover formation by default distance and angle with the unmanned plane；Otherwise without
Man-machine formation, which keeps rank, marches to target point, terminates.
2. the method that the unmanned plane flight pattern of Behavior-based control according to claim 1 is kept, it is characterised in that：Described
Move-to-goal behavior refers to that unmanned plane is formed into columns and the behavior of desired locations is moved to from current location, i.e. the behavior makes unmanned plane form into columns
The output vector of a sensing desired locations is obtained, so that unmanned plane completes the motion to specified desired locations；
Described avoid-obstacle behavior refers to that unmanned plane formation avoids the behavior collided with barrier；
Described formation keeps behavior to refer to that any unmanned plane is in formation after unmanned plane is formed into columns and knows oneself institute into formation
Also determined that with the mutual alignment of other unmanned planes, unmanned plane keeps rank by it with the mutual alignment with reference to unmanned plane.
3. the method that the unmanned plane flight pattern of Behavior-based control according to claim 1 is kept, it is characterised in that forming into columns
During flight, position of the unmanned machine testing oneself in formation troop, when finding that position is inconsistent with predeterminated position, i.e.,
Think that flight pattern is disturbed；
The method of self-position is determined to move navigator's reference point method and neighbours' reference point method simultaneously,
1) navigator's reference point method：A frame unmanned plane is assigned in formation first as referring to unmanned plane, the position of remaining unmanned plane
Put, determined using the position with reference to unmanned plane as reference from the desired location in formation；It need not be examined with reference to unmanned plane
Consider the stable formation formed into columns how, and other unmanned planes need the formation for keeping determining all the time；
2) neighbours' reference point method：In the formation of multiple no-manned plane, each frame unmanned plane selection and oneself nothing nearest in formation
Man-machine position is used as reference point, is then determined according to the position of neighbours' unmanned plane from the position in formation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375866.4A CN107121986A (en) | 2017-05-24 | 2017-05-24 | The method that a kind of unmanned plane flight pattern of Behavior-based control is kept |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375866.4A CN107121986A (en) | 2017-05-24 | 2017-05-24 | The method that a kind of unmanned plane flight pattern of Behavior-based control is kept |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107121986A true CN107121986A (en) | 2017-09-01 |
Family
ID=59728652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710375866.4A Pending CN107121986A (en) | 2017-05-24 | 2017-05-24 | The method that a kind of unmanned plane flight pattern of Behavior-based control is kept |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107121986A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544541A (en) * | 2017-09-18 | 2018-01-05 | 南方科技大学 | Unmanned aerial vehicle control method and system |
| CN107943086A (en) * | 2017-12-21 | 2018-04-20 | 合肥灵猫传媒有限公司 | A kind of unmanned plane cluster makes a return voyage control system |
| CN107992065A (en) * | 2017-09-14 | 2018-05-04 | 北京航空航天大学 | A kind of fixed-wing unmanned aerial vehicle group movable object tracking and avoidance collision-proof method |
| CN108196582A (en) * | 2018-02-12 | 2018-06-22 | 深圳技术大学（筹） | A kind of indoor Visual Navigation unmanned plane cluster flight control system and method |
| CN108268054A (en) * | 2018-02-06 | 2018-07-10 | 哈尔滨工业大学 | Sub- track bee colony aircraft layer-stepping cooperative control method |
| CN108646550A (en) * | 2018-04-03 | 2018-10-12 | 江苏江荣智能科技有限公司 | A kind of multiple agent formation method of Behavior-based control selection |
| CN108681321A (en) * | 2018-04-10 | 2018-10-19 | 华南理工大学 | A kind of undersea detection method that unmanned boat collaboration is formed into columns |
| CN109992005A (en) * | 2019-05-10 | 2019-07-09 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus, computer readable storage medium and relevant device |
| CN110058611A (en) * | 2019-05-13 | 2019-07-26 | 电子科技大学 | A kind of quadrotor formation flight control method based on distributed architecture |
| CN110502032A (en) * | 2019-08-31 | 2019-11-26 | 华南理工大学 | A kind of unmanned plane cluster formation flight method of Behavior-based control control |
| CN111399522A (en) * | 2020-05-12 | 2020-07-10 | 苏州求臻智能科技有限公司 | Substation inspection robot formation inspection formation keeping method based on behavior coordination |
| CN112068587A (en) * | 2020-08-05 | 2020-12-11 | 北京航空航天大学 | Man/unmanned aerial vehicle co-converged cluster interaction method based on European 26891bird communication mechanism |
| CN112148021A (en) * | 2020-09-10 | 2020-12-29 | 北京理工大学 | Multi-agent formation transformation method based on binary tree topological structure and specific rules |
| CN112433538A (en) * | 2020-11-25 | 2021-03-02 | 中国航天空气动力技术研究院 | AUV formation method, system and storage medium |
| CN112987796A (en) * | 2021-05-10 | 2021-06-18 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| CN113093801A (en) * | 2021-04-02 | 2021-07-09 | 南京航空航天大学 | Method for making air route file of multi-unmanned aerial vehicle cooperative formation |
| CN113296530A (en) * | 2021-05-06 | 2021-08-24 | 浙江极客桥智能装备股份有限公司 | Control method, system, terminal and medium based on multiple groups of unmanned aerial vehicles |
| CN113741513A (en) * | 2021-08-24 | 2021-12-03 | 北京理工大学 | Method for optimizing formation of ground search task formation of multiple unmanned aerial vehicles under implicit communication condition |
| CN114625138A (en) * | 2022-03-11 | 2022-06-14 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone robot autonomous movement method and traffic cone robot system |
| IT202100018218A1 (en) * | 2021-07-12 | 2023-01-12 | X Ender S R L | Method for controlling a group of drones |
| CN115686069A (en) * | 2022-11-15 | 2023-02-03 | 杭州国科骏飞光电科技有限公司 | Synchronous coordination control method and system for unmanned aerial vehicle cluster |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104281052A (en) * | 2013-07-06 | 2015-01-14 | 哈尔滨点石仿真科技有限公司 | Behavior based navigator-follower multi-agent formation control method |
-
2017
- 2017-05-24 CN CN201710375866.4A patent/CN107121986A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102591358B (en) * | 2012-03-12 | 2015-07-08 | 北京航空航天大学 | Multi-UAV (unmanned aerial vehicle) dynamic formation control method |
| CN104281052A (en) * | 2013-07-06 | 2015-01-14 | 哈尔滨点石仿真科技有限公司 | Behavior based navigator-follower multi-agent formation control method |
Non-Patent Citations (2)
| Title |
|---|
| 周绍磊 等: "基于RQPSO_DMPC的多无人机编队自主重构控制方法", 《北京航空航天大学学报》 * |
| 王国强 等: "无人机编队管理的研究综述", 《电光与控制》 * |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992065A (en) * | 2017-09-14 | 2018-05-04 | 北京航空航天大学 | A kind of fixed-wing unmanned aerial vehicle group movable object tracking and avoidance collision-proof method |
| CN107544541A (en) * | 2017-09-18 | 2018-01-05 | 南方科技大学 | Unmanned aerial vehicle control method and system |
| CN107943086A (en) * | 2017-12-21 | 2018-04-20 | 合肥灵猫传媒有限公司 | A kind of unmanned plane cluster makes a return voyage control system |
| CN108268054A (en) * | 2018-02-06 | 2018-07-10 | 哈尔滨工业大学 | Sub- track bee colony aircraft layer-stepping cooperative control method |
| CN108268054B (en) * | 2018-02-06 | 2019-02-26 | 哈尔滨工业大学 | Sub- track bee colony aircraft layer-stepping cooperative control method |
| CN108196582A (en) * | 2018-02-12 | 2018-06-22 | 深圳技术大学（筹） | A kind of indoor Visual Navigation unmanned plane cluster flight control system and method |
| CN108646550A (en) * | 2018-04-03 | 2018-10-12 | 江苏江荣智能科技有限公司 | A kind of multiple agent formation method of Behavior-based control selection |
| CN108646550B (en) * | 2018-04-03 | 2022-03-22 | 江苏江荣智能科技有限公司 | Multi-agent formation method based on behavior selection |
| CN108681321A (en) * | 2018-04-10 | 2018-10-19 | 华南理工大学 | A kind of undersea detection method that unmanned boat collaboration is formed into columns |
| CN109992005A (en) * | 2019-05-10 | 2019-07-09 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus, computer readable storage medium and relevant device |
| CN110058611A (en) * | 2019-05-13 | 2019-07-26 | 电子科技大学 | A kind of quadrotor formation flight control method based on distributed architecture |
| CN110502032B (en) * | 2019-08-31 | 2021-10-26 | 华南理工大学 | Unmanned aerial vehicle cluster formation flying method based on behavior control |
| CN110502032A (en) * | 2019-08-31 | 2019-11-26 | 华南理工大学 | A kind of unmanned plane cluster formation flight method of Behavior-based control control |
| CN111399522A (en) * | 2020-05-12 | 2020-07-10 | 苏州求臻智能科技有限公司 | Substation inspection robot formation inspection formation keeping method based on behavior coordination |
| CN112068587A (en) * | 2020-08-05 | 2020-12-11 | 北京航空航天大学 | Man/unmanned aerial vehicle co-converged cluster interaction method based on European 26891bird communication mechanism |
| CN112148021A (en) * | 2020-09-10 | 2020-12-29 | 北京理工大学 | Multi-agent formation transformation method based on binary tree topological structure and specific rules |
| CN112433538A (en) * | 2020-11-25 | 2021-03-02 | 中国航天空气动力技术研究院 | AUV formation method, system and storage medium |
| CN112433538B (en) * | 2020-11-25 | 2023-06-09 | 中国航天空气动力技术研究院 | AUV formation method, system and storage medium |
| CN113093801A (en) * | 2021-04-02 | 2021-07-09 | 南京航空航天大学 | Method for making air route file of multi-unmanned aerial vehicle cooperative formation |
| CN113093801B (en) * | 2021-04-02 | 2021-11-05 | 南京航空航天大学 | Method for making air route file of multi-unmanned aerial vehicle cooperative formation |
| CN113296530A (en) * | 2021-05-06 | 2021-08-24 | 浙江极客桥智能装备股份有限公司 | Control method, system, terminal and medium based on multiple groups of unmanned aerial vehicles |
| CN112987796A (en) * | 2021-05-10 | 2021-06-18 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| IT202100018218A1 (en) * | 2021-07-12 | 2023-01-12 | X Ender S R L | Method for controlling a group of drones |
| WO2023285935A1 (en) * | 2021-07-12 | 2023-01-19 | X - Ender S.R.L. | Method for controlling a group of drones |
| CN113741513A (en) * | 2021-08-24 | 2021-12-03 | 北京理工大学 | Method for optimizing formation of ground search task formation of multiple unmanned aerial vehicles under implicit communication condition |
| CN114625138A (en) * | 2022-03-11 | 2022-06-14 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone robot autonomous movement method and traffic cone robot system |
| CN115686069A (en) * | 2022-11-15 | 2023-02-03 | 杭州国科骏飞光电科技有限公司 | Synchronous coordination control method and system for unmanned aerial vehicle cluster |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107121986A (en) | The method that a kind of unmanned plane flight pattern of Behavior-based control is kept | |
| Saska et al. | Coordination and navigation of heterogeneous UAVs-UGVs teams localized by a hawk-eye approach | |
| CN110347159B (en) | Mobile robot multi-machine cooperation method and system | |
| Hao et al. | Planning and control of UGV formations in a dynamic environment: A practical framework with experiments | |
| Li et al. | A UAV path planning method based on deep reinforcement learning | |
| CN109976386A (en) | A kind of method and system of multiple no-manned plane collaboration tracking target | |
| You | Mission-driven autonomous perception and fusion based on UAV swarm | |
| CN106647808B (en) | AUVs searching and trapping task allocation control method based on fuzzy control algorithm | |
| Butzke et al. | The University of Pennsylvania MAGIC 2010 multi‐robot unmanned vehicle system | |
| CN104133482A (en) | Unmanned-plane fuzzy-control flight method | |
| CN110231821A (en) | The adaptive kernel action amalgamation method of the improvement of multi-robot formation | |
| Wan et al. | Semi-centralized control for multi robot formation | |
| Daingade et al. | Nonlinear cyclic pursuit based cooperative target monitoring | |
| Cui et al. | UAV target tracking algorithm based on task allocation consensus | |
| Zunli et al. | UAV formation flight based on artificial potential force in 3D environment | |
| Zhao et al. | Formation control of networked mobile robots with unknown reference orientation | |
| Bai et al. | Cooperative trajectory optimization for unmanned aerial vehicles in a combat environment | |
| WO2019135195A1 (en) | System and method for executing operations on an object by means of drones | |
| Liu et al. | Discrete pigeon-inspired optimization-simulated annealing algorithm and optimal reciprocal collision avoidance scheme for fixed-wing UAV formation assembly | |
| Yan et al. | Target tracking and obstacle avoidance for multi-agent networks with input constraints | |
| Xu et al. | A multi-robot pattern formation algorithm based on distributed swarm intelligence | |
| Zou et al. | Particle swarm optimization for source localization in environment with obstacles | |
| Sabattini et al. | Tracking of closed-curve trajectories for multi-robot systems | |
| Kim et al. | Cooperative autonomous driving using cooperative perception and mirror neuron inspired intention awareness | |
| Quamar et al. | Control and coordination for swarm of UAVs under multi-predator attack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170901 |