CN108733078A - A kind of formation control method, the apparatus and system of unmanned systems cluster - Google Patents
A kind of formation control method, the apparatus and system of unmanned systems cluster Download PDFInfo
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- CN108733078A CN108733078A CN201810585900.5A CN201810585900A CN108733078A CN 108733078 A CN108733078 A CN 108733078A CN 201810585900 A CN201810585900 A CN 201810585900A CN 108733078 A CN108733078 A CN 108733078A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
This application discloses a kind of formation control methods of unmanned systems cluster, including：Receive the current location that the alignment sensor on unmanned systems node is sent and the present speed that velocity sensor is sent；It is communicated respectively with the controller on other unmanned systems nodes in unmanned systems cluster, to share respective formation information；Formation information includes current location and present speed and target location and target velocity；Path planning is carried out to unmanned systems node according to formation information；Generate drive signal according to the result of path planning and be sent to the drive system of unmanned systems node, until unmanned systems node after moving to target location with target velocity stable operation.The application is adjusted the flight pattern of unmanned systems cluster using distributed AC servo system, can effectively improve control efficiency, improves formation control effect.Disclosed herein as well is a kind of formation control device, system and the computer readable storage mediums of unmanned systems cluster, it may have above-mentioned advantageous effect.
Description
Technical field
This application involves unmanned systems technical field, more particularly to a kind of formation control method of unmanned systems cluster, dress
It sets, system and computer readable storage medium.
Background technology
Being constantly progressive and develop with information technology and electronic technology, unmanned systems technology is in agricultural, industry, army
It is used widely in the fields such as thing.
In the application scenes of certain unmanned systems technologies, often requires to use multiple unmanned systems equipments and carry out together
Shi Zuoye, each unmanned systems equipment are used as a node, they constitute a unmanned systems cluster on the whole.And
When carrying out group operation, essentially need integrally to carry out formation control to cluster.
Formation control method in the prior art often uses traditional centerized fusion so that whole control efficiency
Lowly, control not in time, enables the control effect of the flight pattern of entire unmanned systems cluster unsatisfactory.
It can be seen that using the formation control method of which kind of unmanned systems cluster, to effectively improve control efficiency, to change
Kind formation control effect, is those skilled in the art's technical problem urgently to be resolved hurrily.
Invention content
The application's is designed to provide a kind of formation control method, device, system and the computer of unmanned systems cluster
Readable storage medium storing program for executing, to effectively improve control efficiency, to improve formation control effect.
In order to solve the above technical problems, the application provides a kind of formation control method of unmanned systems cluster, it is applied to institute
The controller on the unmanned systems node in unmanned systems cluster is stated, the unmanned systems node installation has alignment sensor and speed
Spend sensor；The formation control method includes：
Receive the current location and the velocity sensor that the alignment sensor on the unmanned systems node is sent
The present speed of transmission；
It is communicated respectively with the controller on other described unmanned systems nodes in the unmanned systems cluster,
To share respective formation information；The formation information include the current location and the present speed and target location and
Target velocity；The target location and the target velocity are by master controller according to flight pattern instruction calls input by user
After corresponding formation control algorithm, is calculated and generated according to the initial position of the unmanned systems node and initial velocity, concurrently
It send to the controller of the unmanned systems node；
Path planning is carried out to the unmanned systems node according to the formation information；
Drive signal is generated according to the result of the path planning and is sent to the drive system of the unmanned systems node,
Until the unmanned systems node after moving to the target location with the target velocity stable operation.
Optionally, the formation information further includes captured by the imaging sensor on the unmanned systems node
Ambient image；
It is described to include to unmanned systems node progress path planning according to the formation information：
The obstacle information of the unmanned systems node local environment is extracted from the ambient image；According to the obstacle
Object information and the current location and the present speed and the target location and the target velocity are to the unmanned systems
Node carries out obstacle-avoiding route planning.
Optionally, described image sensor is binocular camera.
Optionally, the master controller is computer processor.
Optionally, the alignment sensor is GPS positioning sensor.
Optionally, it is described respectively with the control on other described unmanned systems nodes in the unmanned systems cluster
Device carries out communication：
It is carried out respectively with the controller on other described unmanned systems nodes in the unmanned systems cluster wireless
Communication.
Optionally, in the current location that the alignment sensor received on the unmanned systems node is sent and institute
After the present speed for stating velocity sensor transmission, further include：
The current location and the present speed are sent to the master controller, shown so that the master controller generates
Show instruction, the current location of the unmanned systems node and the present speed are shown in display terminal.
Present invention also provides a kind of formation control devices of unmanned systems cluster, are applied in the unmanned systems cluster
Unmanned systems node on controller, the unmanned systems node installation has alignment sensor and velocity sensor；The volume
Team control device include：
Acquisition module：Current location for receiving the transmission of the alignment sensor on the unmanned systems node and institute
State the present speed of velocity sensor transmission；Master controller is received corresponding according to flight pattern instruction calls input by user
After formation control algorithm, the target generated and sent is calculated according to the initial position of the unmanned systems node and initial velocity
Position and target velocity；
Communication module：For respectively with the control on other described unmanned systems nodes in the unmanned systems cluster
Device processed is communicated, to share respective formation information；The formation information includes the current location and the current speed
Degree and the target location and the target velocity；
Path planning module：For carrying out path planning to the unmanned systems node according to the formation information；
Drive module：For generating drive signal according to the result of the path planning and being sent to the unmanned systems section
The drive system of point is transported until the unmanned systems node is stablized after moving to the target location with the target velocity
Row.
Present invention also provides a kind of formation control systems of unmanned systems cluster, and the unmanned systems cluster includes multiple
Unmanned systems node；The formation control system include master controller, the controller on the unmanned systems node and
Alignment sensor and velocity sensor；
The alignment sensor is used to the current location of the unmanned systems node being sent to the controller；
The velocity sensor is used to the present speed of the unmanned systems node being sent to the controller；
The master controller is used for according to the corresponding formation control algorithm of flight pattern instruction calls input by user, according to
The initial position and initial velocity of the unmanned systems node calculate Generate Target Position and target velocity, and are sent to the control
Device processed；
The controller for respectively on other described unmanned systems nodes in the unmanned systems cluster described in
Controller is communicated, to share respective formation information；The formation information includes the current location and described current
Speed and the target location and the target velocity；Path rule are carried out to the unmanned systems node according to the formation information
It draws；Drive signal is generated according to the result of the path planning and is sent to the drive system of the unmanned systems node, until
The unmanned systems node is after moving to the target location with the target velocity stable operation.
Present invention also provides a kind of computer readable storage medium, meter is stored in the computer readable storage medium
Calculation machine program realizes the formation control of any unmanned systems cluster as described above when the computer program is executed by processor
The step of method processed.
The formation control method of unmanned systems cluster provided herein is applied to the unmanned system in unmanned systems cluster
The controller united on node, including：Receive current location that the alignment sensor on the unmanned systems node is sent and
The present speed that the velocity sensor is sent；Respectively on other described unmanned systems nodes in the unmanned systems cluster
The controller communicated, to share respective formation information；The formation information includes the current location and institute
State present speed and target location and target velocity；The target location and the target velocity are by master controller according to user
After the corresponding formation control algorithm of flight pattern instruction calls of input, according to the initial position of the unmanned systems node and
Initial velocity, which calculates, to be generated, and is sent to the controller of the unmanned systems node；According to the formation information to described
Unmanned systems node carries out path planning；Drive signal is generated according to the result of the path planning and is sent to the unmanned system
The drive system of system node, until the unmanned systems node is stablized after moving to the target location with the target velocity
Operation.
As it can be seen that compared with the prior art, in the formation control method of unmanned systems cluster provided herein, passing through order
The controller of each unmanned systems node carries out the shared of formation information each other, so that each controller is respectively to this unmanned systems
Node carries out path planning and drive control, that is, the form of distributed AC servo system is used to carry out the flight pattern of unmanned systems cluster
It adjusts, so as to effectively improve control efficiency, improves formation control effect.
Description of the drawings
In order to illustrate more clearly of the technical solution in the prior art and the embodiment of the present application, below will to the prior art and
Attached drawing to be used is needed to make brief introduction in the embodiment of the present application description.Certainly, the attached drawing in relation to the embodiment of the present application below
A part of the embodiment in only the application of description is not paying creativeness to those skilled in the art
Under the premise of labour, other attached drawings can also be obtained according to the attached drawing of offer, the other accompanying drawings obtained also belong to the application
Protection domain.
Fig. 1 is a kind of flow chart of the formation control method of unmanned systems cluster provided herein；
Fig. 2 is a kind of structure diagram of the formation control device of unmanned systems cluster provided herein；
Fig. 3 is a kind of structure diagram of the formation control system of unmanned systems cluster provided herein.
Specific implementation mode
The core of the application is to provide a kind of formation control method, device, system and the computer of unmanned systems cluster
Readable storage medium storing program for executing, to effectively improve control efficiency, to improve formation control effect.
In order to which technical solutions in the embodiments of the present application is more clearly and completely described, below in conjunction with this Shen
Attached drawing that please be in embodiment, technical solutions in the embodiments of the present application are introduced.Obviously, described embodiment is only
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Referring to FIG. 1, Fig. 1 is a kind of flow chart of the formation control method of unmanned systems cluster provided herein,
Applied to the controller on the unmanned systems node in unmanned systems cluster, wherein unmanned systems node installation has orientation sensing
Device and velocity sensor；The formation control method mainly includes the following steps that：
Step 1：What the current location and velocity sensor that the alignment sensor on reception unmanned systems node is sent were sent
Present speed.
Specifically, it is directed to the formation control of unmanned systems cluster, main control object is exactly mainly each in fact
The position and speed of each unmanned systems node in unmanned systems cluster.Therefore, pass through positioning on each unmanned systems node
Sensor and velocity sensor measure the position and speed of itself in real time.Certainly, described unmanned systems node tool
Body can be vehicle or unmanned aerial vehicle etc., and the application is not limited thereto.
Step 2：It is communicated respectively with the controller on other unmanned systems nodes in unmanned systems cluster, so as to altogether
Enjoy respective formation information；
Wherein, formation information includes current location and present speed and target location and target velocity；Target location and mesh
Speed is marked by master controller after according to the corresponding formation control algorithm of flight pattern instruction calls input by user, according to nothing
The initial position and initial velocity of people's system node, which calculate, to be generated, and is sent to the controller of unmanned systems node.
After the controller on a unmanned systems node has received current location and the present speed of itself,
To be communicated with the controller on other unmanned systems nodes in unmanned systems cluster, it is therefore an objective to share mutual volume mutually
Team's information, consequently facilitating carrying out the drive control of next step.
The formation information, specifically include the current location of the unmanned systems node, present speed, target location and
Target velocity.Wherein, target location and target velocity are to be sent to the unmanned systems node after calculating generation by master controller.
Master controller is the device for being adjusted control to cluster on the whole, and user can input desired according to application demand
Flight pattern is instructed to master controller, so that master controller calls corresponding with flight pattern instruction, preset formation control to calculate
Method, and according to the initial position and initial velocity of each unmanned systems node, generate the target velocity of each unmanned systems node
And target location, and it is respectively sent to corresponding unmanned systems node, so that each unmanned systems node is according to master controller
Order is moved.
It is easily understood that described initial position and initial velocity is for formation control each time, it is real
Be exactly on border " current location " that formation control initial time is detected by alignment sensor and velocity sensor respectively and " when
Preceding speed " is sent to master controller by the controller on unmanned systems node, so that master controller calls formation control algorithm
It is that each unmanned systems node calculates respective target location and position and speed according to these initial informations.
Step 3：Path planning is carried out to unmanned systems node according to formation information.
Unmanned systems node carries out information sharing between each other, to carry out path planning according to mutual formation information.
It is easily understood that in the unmanned systems cluster being made of multiple unmanned systems nodes, the traveling of each unmanned systems node
It is mobile not only to consider oneself factor, it is contemplated that the position and speed of other unmanned systems nodes, especially adjacent
Several unmanned systems nodes situations such as to prevent from colliding, lead to equipment damage.Therefore, for it is each nobody
For system node, it is also necessary to specific certain ability of tracking, so as to according to the position of other unmanned systems nodes, speed etc. and
Shi Chongxin planning paths are hidden.
Preferably, the path of different unmanned systems nodes, which can be non-overlapping achiasmate but more situation, is, when not
When not reaching existing overlapping or intersecting, it can be avoided collision by controlling the priority movement sequence of different unmanned systems nodes, that is,
The particular content of path planning may include not only the route in the path, can also include the mobile opportunity in the path.
That is, each controller needs the formation information according to each unmanned systems node shared to carry out this unmanned system
The path planning of system node, and ensure it is the path with other unmanned systems node Lothrus apterus.Certainly, during path planning
Generally there are other measurement standards, such as mobile consumption is smaller etc..As for which kind of path planning algorithm specifically used, the application is simultaneously
It does not limit, those skilled in the art voluntarily can select and be arranged.
Step 4：Drive signal is generated according to the result of path planning and is sent to the drive system of unmanned systems node, directly
To unmanned systems node with target velocity stable operation after moving to target location.
According to the path planned, controller can be executed specifically and be controlled to the traveling of this unmanned systems node, with
Just entire unmanned systems cluster realizes the desired flight pattern of user.Described drive signal is exactly the driving of unmanned systems node
The control signal of system.Usually, the drive system of unmanned vehicle or unmanned plane is mainly all kinds of motors, steering engine etc., and normal
It is often used the size that PWM control methods carry out adjusting control signal, in this regard, those skilled in the art can voluntarily select and design reality
Existing, the application is not defined.
It is easily understood that during unmanned systems cluster realizes expected flight pattern, above-mentioned control process
All it is to continue to carry out.I.e. controller constantly obtains present speed and current location, so as to continuous after formation information is shared
Drive signal size is adjusted, until realizing formation control target.In addition, generating drive signal to adjust unmanned systems node
When current location and present speed, closed-loop control preferably can be specifically used, that is, makees difference control, it is real to ensure control accuracy
Existing indifference control.
From the foregoing it can be that in the application, the controller of each unmanned systems node is to this unmanned systems node
The equipment that is directly controlled of specific traveling process, be that this unmanned systems node directly controls center, have it is higher from
My decision-making capability.Therefore, used by the application it is a kind of distributed AC servo system, the centralization during it is different from the prior art is controlled
System, can make full use of the hardware resource advantage of each controller, effectively improves control decision efficiency.
As it can be seen that in the formation control method of unmanned systems cluster provided herein, by enabling each unmanned systems node
Controller carry out the shared of formation information each other, so that each controller carries out path rule to this unmanned systems node respectively
Draw and drive control, that is, use distributed AC servo system form the flight pattern of unmanned systems cluster is adjusted, so as to have
Effect improves control efficiency, improves formation control effect.
The formation control method of unmanned systems cluster provided herein, on the basis of the above embodiments：
As a kind of preferred embodiment, formation information further includes that the imaging sensor being mounted on unmanned systems node is clapped
The ambient image taken the photograph；
Carrying out path planning to unmanned systems node according to formation information includes：
The obstacle information of unmanned systems node local environment is extracted from ambient image；According to obstacle information and currently
Position and present speed and target location and target velocity carry out obstacle-avoiding route planning to unmanned systems node.
Specifically, avoidance is a major issue of unmanned systems node during traveling.In order to avoid barrier pair
Influence when unmanned systems node is advanced, the application can also be specifically that imaging sensor is arranged in unmanned systems node, to clap
Ambient image is taken the photograph, reasonable avoidance is carried out according to the obstacle information in ambient image while path planning by master controller.
As a kind of preferred embodiment, imaging sensor is binocular camera.
Specifically, using binocular camera as imaging sensor, using Binocular Vision Principle, according to the scape of image
The results such as depth, characteristic matching obtain more accurate obstacle information, it is ensured that path planning it is more scientific and reasonable.
As a kind of preferred embodiment, master controller is computer processor.
Specifically, the master controller in the application is recommended but is not limited to using the calculating independently of each unmanned systems node
Machine processor completes the overall calculation for being directed to unmanned systems cluster using the high-performance of computer processor.
Certainly, those skilled in the art can also voluntarily use other settings according to practical situations, such as by cluster
In some unmanned systems node controller as master controller.
As a kind of preferred embodiment, alignment sensor is GPS positioning sensor.
Specifically, GPS positioning technology is the location technology generally used in current global range, is preferably but not limited to adopt
With GPS positioning sensor.Certainly, those skilled in the art can also use such as other positioning systems of the Big Dipper, and the application is not
It is defined.
As a kind of preferred embodiment, respectively with the controller on other unmanned systems nodes in unmanned systems cluster into
Row communicates：
It is carried out wireless communication respectively with the controller on other unmanned systems nodes in unmanned systems cluster.
Specifically, generally it is using easily wireless communications mode for the unmanned systems node of group operation.Cause
This, preferably wirelessly realizes the communication process between unmanned systems node.Certainly, the communication mode class between master controller
Seemingly.
As a kind of preferred embodiment, current location and speed that the alignment sensor on receiving unmanned systems node is sent
It spends after the present speed that sensor is sent, further includes：
Current location and present speed are sent to master controller, so that master controller generates idsplay order, by unmanned system
The current location of system node and present speed are shown in display terminal.
It specifically, can also be by it after controller gets present speed and the current location of this unmanned systems node
It is shown, in order to which user observes in display terminal.In order to show the traveling situation of entire unmanned systems cluster, respectively
Respective data can be sent to master controller by a controller, are generated idsplay order by master controller, are showed in display terminal
User.As for which kind of particularly shown mode used, those skilled in the art voluntarily can select and be arranged, the application and without
It limits.
The formation control device of unmanned systems cluster provided herein is introduced below.
Referring to Fig. 2, Fig. 2 is a kind of structural frames of the formation control device of unmanned systems cluster provided herein
Figure, the controller being applied on the unmanned systems node in unmanned systems cluster, unmanned systems node installation have alignment sensor
And velocity sensor；Formation control device includes acquisition module 21, communication module 22, path planning module 23 and drive module
24；
Acquisition module 21 is used to receive the current location and velocity pick-up that the alignment sensor on unmanned systems node is sent
The present speed that device is sent；Master controller is received to calculate according to the corresponding formation control of flight pattern instruction calls input by user
After method, the target location generated and sent and target speed are calculated according to the initial position of unmanned systems node and initial velocity
Degree；
Communication module 22 with the controller on other unmanned systems nodes in unmanned systems cluster for being led to respectively
Letter, to share respective formation information；Formation information includes current location and present speed and target location and target velocity；
Path planning module 23 is used to carry out path planning to unmanned systems node according to formation information；
Drive module 24 is used to generate drive signal according to the result of path planning and is sent to the drive of unmanned systems node
Dynamic system, until unmanned systems node after moving to target location with target velocity stable operation.
As it can be seen that the formation control device of unmanned systems cluster provided herein, by enabling each unmanned systems node
Controller carries out the shared of formation information each other, so that each controller carries out path planning to this unmanned systems node respectively
And drive control, that is, use the form of distributed AC servo system that the flight pattern of unmanned systems cluster is adjusted, so as to effective
Control efficiency is improved, formation control effect is improved.
The formation control system of unmanned systems cluster provided herein is introduced below.
Referring to Fig. 3, Fig. 3 is a kind of structural frames of the formation control system of unmanned systems cluster provided herein
Figure, unmanned systems cluster includes multiple unmanned systems nodes；The formation control system includes master controller 31, is mounted on nobody
Controller 32 and alignment sensor 33 on system node and velocity sensor 34；
Alignment sensor 33 is used to the current location of unmanned systems node being sent to controller 32；
Velocity sensor 34 is used to the present speed of unmanned systems node being sent to controller 32；
Master controller 31 is used for according to the corresponding formation control algorithm of flight pattern instruction calls input by user, according to nothing
The initial position and initial velocity of people's system node calculate Generate Target Position and target velocity, and are sent to controller 32；
Controller 32 with the controller 32 on other unmanned systems nodes in unmanned systems cluster for being led to respectively
Letter, to share respective formation information；Formation information includes current location and present speed and target location and target velocity；
Path planning is carried out to unmanned systems node according to formation information；Drive signal is generated according to the result of path planning and is sent to
The drive system of unmanned systems node, until unmanned systems node after moving to target location with target velocity stable operation.
As it can be seen that the formation control system of unmanned systems cluster provided herein, by enabling each unmanned systems node
Controller 32 carries out the shared of formation information each other, so that each controller carries out path rule to this unmanned systems node respectively
Draw and drive control, that is, use distributed AC servo system form the flight pattern of unmanned systems cluster is adjusted, so as to have
Effect improves control efficiency, improves formation control effect.
Present invention also provides a kind of computer readable storage medium, calculating is stored in the computer readable storage medium
Machine program realizes the formation control of any unmanned systems cluster as described above when the computer program is executed by processor
The step of method processed.
The formation control device of unmanned systems cluster provided herein, the tool of system and computer readable storage medium
Body embodiment can correspond reference with the formation control method of unmanned systems cluster as described above, just no longer superfluous here
It states.
Each embodiment is described by the way of progressive in the application, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
?.
It should be noted that in present specification, the relational terms of such as " first " and " second " etc are used merely to
One entity is either operated and is distinguished with another entity or operation, without necessarily requiring or implying these entities or
There are any actual relationship or orders between person's operation.In addition, the terms "include", "comprise" or its any other
Variant is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only
Including those elements, but also include other elements that are not explicitly listed, or further includes for this process, method, object
Product or the intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...",
It is not precluded in the process, method, article or apparatus that includes the element that there is also other identical elements.
Technical solution provided herein is described in detail above.Specific case used herein is to this Shen
Principle and embodiment please is expounded, the explanation of above example is only intended to help understand the present processes and its
Core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the application principle
Under, can also to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the protection of the application claim
In range.
Claims (10)
1. a kind of formation control method of unmanned systems cluster is applied on the unmanned systems node in the unmanned systems cluster
Controller, which is characterized in that the unmanned systems node installation has alignment sensor and velocity sensor；The formation control
Method includes：
Receive the current location and velocity sensor transmission that the alignment sensor on the unmanned systems node is sent
Present speed；
It is communicated respectively with the controller on other described unmanned systems nodes in the unmanned systems cluster, so as to
Share respective formation information；The formation information includes the current location and the present speed and target location and target
Speed；The target location and the target velocity are corresponded to by master controller according to flight pattern instruction calls input by user
Formation control algorithm after, calculated and generated according to the initial position of the unmanned systems node and initial velocity, and be sent to
The controller of the unmanned systems node；
Path planning is carried out to the unmanned systems node according to the formation information；
Drive signal is generated according to the result of the path planning and is sent to the drive system of the unmanned systems node, until
The unmanned systems node is after moving to the target location with the target velocity stable operation.
2. formation control method according to claim 1, which is characterized in that the formation information further includes mounted on described
The ambient image captured by imaging sensor on unmanned systems node；
It is described to include to unmanned systems node progress path planning according to the formation information：
The obstacle information of the unmanned systems node local environment is extracted from the ambient image；Believed according to the barrier
Breath and the current location and the present speed and the target location and the target velocity are to the unmanned systems node
Carry out obstacle-avoiding route planning.
3. formation control method according to claim 2, which is characterized in that described image sensor is binocular camera.
4. formation control method according to claim 3, which is characterized in that the master controller is computer processor.
5. formation control method according to claim 4, which is characterized in that the alignment sensor senses for GPS positioning
Device.
6. formation control method according to any one of claims 1 to 5, which is characterized in that it is described respectively with it is described nobody
The controller on other described unmanned systems nodes in system cluster carries out communication：
It is carried out wireless communication respectively with the controller on other described unmanned systems nodes in the unmanned systems cluster.
7. formation control method according to claim 6, which is characterized in that received on the unmanned systems node described
The alignment sensor send current location and the velocity sensor send present speed after, further include：
The current location and the present speed are sent to the master controller, referred to so that the master controller generates display
It enables, the current location of the unmanned systems node and the present speed is shown in display terminal.
8. a kind of formation control device of unmanned systems cluster is applied on the unmanned systems node in the unmanned systems cluster
Controller, which is characterized in that the unmanned systems node installation has alignment sensor and velocity sensor；The formation control
Device includes：
Acquisition module：Current location for receiving the transmission of the alignment sensor on the unmanned systems node and the speed
Spend the present speed that sensor is sent；Master controller is received according to the corresponding formation of flight pattern instruction calls input by user
After control algolithm, the target location generated and sent is calculated according to the initial position of the unmanned systems node and initial velocity
And target velocity；
Communication module：For respectively with the controller on other described unmanned systems nodes in the unmanned systems cluster
It is communicated, to share respective formation information；The formation information include the current location and the present speed and
The target location and the target velocity；
Path planning module：For carrying out path planning to the unmanned systems node according to the formation information；
Drive module：For generating drive signal according to the result of the path planning and being sent to the unmanned systems node
Drive system, until the unmanned systems node after moving to the target location with the target velocity stable operation.
9. a kind of formation control system of unmanned systems cluster, which is characterized in that the unmanned systems cluster include it is multiple nobody
System node；The formation control system includes master controller, the controller on the unmanned systems node and positioning
Sensor and velocity sensor；
The alignment sensor is used to the current location of the unmanned systems node being sent to the controller；
The velocity sensor is used to the present speed of the unmanned systems node being sent to the controller；
The master controller is used for according to the corresponding formation control algorithm of flight pattern instruction calls input by user, according to described
The initial position and initial velocity of unmanned systems node calculate Generate Target Position and target velocity, and are sent to the control
Device；
The controller for respectively with the control on other described unmanned systems nodes in the unmanned systems cluster
Device is communicated, to share respective formation information；The formation information includes the current location and the present speed
With the target location and the target velocity；Path planning is carried out to the unmanned systems node according to the formation information；
Drive signal is generated according to the result of the path planning and is sent to the drive system of the unmanned systems node, until described
Unmanned systems node is after moving to the target location with the target velocity stable operation.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, the computer program realize unmanned systems cluster as described in any one of claim 1 to 7 when being executed by processor
The step of formation control method.
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