CN110069075A - A kind of cluster super maneuver barrier-avoiding method of imitative dove group emergency avoidance mechanism - Google Patents
A kind of cluster super maneuver barrier-avoiding method of imitative dove group emergency avoidance mechanism Download PDFInfo
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Abstract
The present invention discloses a kind of cluster super maneuver barrier-avoiding method of imitative dove group emergency avoidance mechanism, and steps are as follows: one, parameter initialization；Two, current time unmanned plane cluster leader's strategy is determined；Three, the dove group for calculating unmanned plane cluster, which forms into columns, keeps information；Four, unmanned plane collection realm dove group obstacle perception；Five, the obstacle perceptual strategy to other unmanned planes is analyzed；Six, imitative dove group's emergency Robot dodge strategy of unmanned plane cluster is determined；Seven, imitative dove group's emergency avoidance response of unmanned plane cluster is calculated；Eight, subsequent time unmanned plane cluster course angle is calculated；Nine, unmanned plane cluster subsequent time two-dimensional spatial location is updated；Ten, it stores and exports unmanned plane cluster position information.Invention enhances monitoring range, angle, working efficiency, the anti-interferences of raising needed for single rack UAV system；Single machine computational load is effectively reduced, in addition to this, the present invention improves unmanned plane for the adaptability of the urgent avoidance of short distance under complicated dynamic task environment.
Description
Technical field
The present invention is a kind of cluster super maneuver barrier-avoiding method of imitative dove group emergency avoidance mechanism, belongs to unmanned aerial vehicle (UAV) control technology
Field.
Background technique
With the rapid development of computer communication and network technology, unmanned air vehicle technique etc., unmanned plane is led in military civilian wait
Domain using more and more extensive, unmanned plane cluster is with efficient capability of information sharing, low cost, distributed type assemblies wisdom and height
The advantages such as the reliability of degree become the inexorable trend of Development of UAV.From 2005, U.S. Department of Defense issues " UAV system road
Line chart 2005-2030 ", unmanned plane autonomous control grade is divided into 1~10 grade, including single machine is autonomous, multimachine is autonomous, cluster from
Main (distributed AC servo system, group's strategic objective, Quan Zizhu cluster) 3 levels, and point out that " Quan Zizhu cluster " is that unmanned plane is autonomous
The highest level of control, it is contemplated that unmanned plane will be provided with complete autonomous clustering capability after 2025.Task phase is carried out with single rack unmanned plane
It is the collective motion of a large amount of self actuating systems than, unmanned plane cluster, intelligence is realized by information exchange between the unmanned plane in cluster
Energyization, and have a degree of common recognition independence.Under environment complicated and changeable, unmanned plane cluster can solve in commission after
Communication, intelligence reconnaissance, battlefield monitoring, electronic countermeasure, target strike etc. be in military missions, the monitoring model that single rack unmanned plane is faced
Various problems such as narrow, angle is small, lethal radius is small, working efficiency is low, self-healing ability is weak, anti-interference is poor are enclosed, to entirety
UAV system fighting efficiency is greatly improved.
In existing unmanned air vehicle technique, under specific completion reality scene when complicated appointed task, unmanned plane cluster is removed
Except the formation for controlling itself, the complicated unsafe conditions factor is usually further encountered, therefore flew in unmanned plane cluster
Cheng Zhong, avoidance problem are one of the critical issues of modern unmanned air vehicle technique.The avoidance of unmanned plane cluster be divided into a unmanned plane group of planes it
Between avoidance, cluster to the avoidance of large-scale static-obstacle thing and cluster to the emergency avoidance of the small obstacle of burst.Unmanned plane
The reaction obstacle avoidance ability that cluster carries out emergent barrier on the advertised route planned is exactly unmanned plane collection
The emergency obstacle avoidance ability of group.Cluster super maneuver barrier-avoiding method proposed by the invention is a kind of real-time emergency avoidance side of cluster formation
Method.
In general, the burst barrier including no forethought to perceived in unmanned plane cluster flight path
It after barrier, carries out Robot dodge strategy and is detached from original track, determine that avoiding obstacles restore itself formation again later, continue along original
Airline operation.Traditional emergency barrier-avoiding method can mainly be classified as based on nodal method, be based on sampling method, based on mathematical model method
And evolution algorithm etc..Based in nodal method, includes mainly A* algorithm, Dijsktra algorithm etc., be all based on grating map
Carry out heuristic search, however for the accuracy for the track that navigates, need by grid division should as far as possible small and corresponding neighborhood
As far as possible greatly, will cause the increase of single machine computational load, the problems such as operation reaction time is elongated thereupon；It is being based on sampling method
In, include mainly Quick Extended random tree method, Voronoi diagram method, probabilistic road maps method, Artificial Potential Field Method etc., is required to shift to an earlier date
Know existing, the complete complaint message in mission area, adaptability is low in dynamic task environment complicated and changeable；It is based on
Unmanned plane emergency avoidance problem is converted to the number of a specification by piece-wise linearization and integer programming method by mathematical model method
Model is learned, evolution algorithm is then that unmanned plane emergency avoidance problem is converted to the combination that optimal solution is found under constraint condition
Optimization problem, however the corresponding computation complexity of the two is excessive, unmanned plane meets an urgent need do not answer actually in avoidance in real time on line
With value.The above method is each advantageous on complex environment, operation reaction time and algorithm complexity respectively, however works as and combine
Come, lack a good integrated application value, the present invention imitates the cluster super maneuver avoidance side of dove group's emergency avoidance Mechanism Design
Method environmental suitability, convergence time and in terms of the problem of on be correspondingly improved and improved.
With the development of unmanned plane Clustering, the requirement to cluster short distance avoidance is higher and higher, bionic computer control
Technology processed provides for new thinking herein.In the nature spatial domain for the large scales such as migrating, there can be a large amount of research
The various flight navigation strategies of birds are shown, however, scholars have found many birds to closely in rambling environment
Obstructed paths planning is seldom, therefore the unique emergency avoidance mechanism of dove group has creativeness in terms of cluster super maneuver avoidance
Value.Dove group can still complete this very challenging task of rapid avoiding obstacles in high-speed flight.Dove group
Emergency avoidance mechanism be a kind of passive type reaction mechanism, only when apart from barrier about 0.5m just carry out avoidance reaction, this
It is a kind of avoidance mechanism that angle resolves, and not carries out position resolving as principle to minimize distance.Dove group passes through narrow sky
Between when, perceive barrier in vision attention area first, carry out steering decision after aiming at the notch between barrier, i.e., as far as possible
The most spacious gap across obstacle, if it is possible to simulate dove group emergency avoidance mechanism and be applied and be worked as in unmanned plane cluster
In, the self-healing ability and data bandwidth of unmanned plane cluster can will be largely improved, the unmanned plane under complex environment is appointed
There is great application potential in business.The present invention is using dove group emergency avoidance Mechanism Model and to unmanned plane cluster internal unmanned plane
Information exchange is planned, unmanned plane cluster is jointly controlled in such a way that priority is chosen and realizes form into columns holding and emergency avoidance.
Summary of the invention
The invention proposes a kind of cluster super maneuver barrier-avoiding methods of imitative dove group emergency avoidance mechanism, and the purpose is to multi rack
Unmanned plane information exchange carry out planning and designing and simulation dove group emergency avoidance mechanism, while realize unmanned plane cluster form into columns keep with
Super maneuver emergency avoidance, improves anti-interference, the real-time of UAV system entirety, is unmanned plane cluster in ring complicated and changeable
The urgent avoidance of short distance under border provides a solution.
The present invention is developed for the urgent avoidance technology of unmanned plane cluster short distance based on dove group's emergency avoidance Mechanism Model
A kind of cluster super maneuver barrier-avoiding method of imitative dove group emergency avoidance mechanism, specific step is as follows for this method:
Step 1: parameter initialization
Determine unmanned plane cluster main frame number N, target position (Xg,Yg), ignore height coordinate, in certain two-dimensional space with
Machine generates the two-dimensional spatial location (X of every frame unmanned plane i (i=1,2,3...N) initial timei,Yi)(Xi<<Xg,Yi<<Yg), fly
Scanning frequency degree Vi, course angleThe maximum perceived distance R of unmanned planemax, maximum perception angle [alpha]max, unmanned plane course
Controller parameter τ, ΚP、KI、ΚD、KS, map and compass factor P1, unmanned plane velocity factor P2, evaluation function weight coefficient
w1、w2；Ignore height coordinate, generates n round obstacle, each obstacle j (j=1,2,3...n) at random in certain two-dimensional space
Central coordinate of circle (xj,yj)(xj≤Xg,yj≤Yg), radius r (r < Rmax), computer running time T.
Step 2: current time unmanned plane cluster leader's strategy is determined
In order to choose the evaluation of estimate that barrier is less in close from target position in current time unmanned aerial vehicle group and sensing range
Best unmanned plane is arranged evaluation function h, calculates the evaluation function of current time every frame unmanned plane as head machine (dove group's head dove)
Value, according to sequence using the smallest unmanned plane of evaluation function value as the head machine at current time, remaining unmanned plane (is followed as wing plane
Dove).
Wherein,The distance of target position is arrived for unmanned plane i (i=1,2,3...N),
MiThe barrier quantity detected in sensing range for unmanned plane i (i=1,2,3...N).
Step 3: the dove group for calculating unmanned plane cluster, which forms into columns, keeps information
Every frame unmanned plane keeps mechanism according to dove group, updates corresponding speed, position according to command speed, position function and deposits
Storage, head machine navigate to target position, and wing plane follows a machine to carry out navigation information updating.
Wherein, P1For the mapped directions factor, P2For unmanned plane velocity factor, need to set numerical value, rand all in accordance with specific
() is the random number between 0 to 1,
Step 4: unmanned plane collection realm dove group's obstacle perception
Every frame unmanned plane is the same with single pigeon vision attention region, and vision attention region is in place with unmanned plane i institute
Set (Xi, Yi) it is vertex, RmaxFor radius, 2 αmaxIt navigates with unmanned plane in direction for the sector of central angle, and vertex to camber line midpoint
To angle betaiUnanimously.
Judge whether there is fixed obstacle in the vision attention region of every frame unmanned plane i (i=1,2,3...N), i.e., when solid
The angle determined between the line and unmanned plane course of barrier j to unmanned plane i is less than αmaxAnd between unmanned plane i and fixed obstacle j
Distance be less than or equal to RmaxWhen, unmanned plane perceives fixed obstacle j, and carries out Obstacle Position label；
Judge whether there are other unmanned planes in the vision attention region of every frame unmanned plane i (i=1,2,3...N), that is, works as nothing
Angle between man-machine i and the line and unmanned plane course of other unmanned planes is less than αmaxAnd between unmanned plane i and other unmanned planes
Distance is less than or equal to RmaxWhen, unmanned plane perceives other unmanned planes in vision attention region, and is marked.If unmanned plane i
(i=1,2,3...N) is not detected by fixed obstacle, and is not detected by other unmanned planes, then gos to step two.
Step 5: the obstacle perceptual strategy to other unmanned planes is analyzed
The velocity magnitude and nothing for other unmanned planes that unmanned plane i (i=1,2,3...N) vision attention region internal standard is recorded a demerit
The ratio of the velocity magnitude of man-machine i (i=1,2,3...N) is referred to as velocity rate, setting speed rate threshold t (t > 1), if speed ratio
Rate be greater than velocity rate threshold value, then the vision attention region secondary mark unmanned plane i (i=1,2,3...N) internal standard record a demerit its
His unmanned plane coordinate.
Step 6: imitative dove group's emergency Robot dodge strategy of unmanned plane cluster is determined
Determine the corresponding dove group emergency Robot dodge strategy of unmanned plane i (i=1,2,3...N), i.e., according to the obstacle (one detected
The unmanned plane that secondary labeled fixed obstacle and secondary mark are crossed) gap and solve to primary labeled fixed obstacle
Avoidance angle γij(j=1,2,3...n) and to secondary mark the avoidance angle γ for the unmanned plane crossedik。
Wherein,αjFor obstacle angular coordinate, βkCourse angle for k-th of the unmanned plane crossed by secondary mark
Coordinate, QikFor the distance of k-th of unmanned plane being crossed by secondary mark to unmanned plane i (i=1,2,3...N).
Step 7: imitative dove group's emergency avoidance response of unmanned plane cluster is calculated
The dove group's emergency avoidance for calculating unmanned plane i (i=1,2,3...N) responds αI, exp(i=1,2,3...N), i.e., by nothing
At maximum gap between man-machine i (i=1,2,3...N) alignment obstacle.
αI, exp=∑ (αj+γij+βk+γik) (8)
Step 8: subsequent time unmanned plane cluster course angle is calculated
Use unmanned plane direction controllerIt executes the emergency avoidance of unmanned plane i (i=1,2,3...N), that is, calculates
The course angle β that subsequent time should execute outi(i=1,2,3...N).
Wherein, error alphai,error=βi-αi,exp, τ is visual perception sensor time delay, KpFor the control of unmanned plane course ratio
Gain, KiFor integration control gain, KDGain, K are controlled for differentialSGain is controlled for stable inertia.
Step 9: unmanned plane cluster subsequent time two-dimensional spatial location is updated
The course angle β being calculated by step 8i(i=1,2,3...N) Lai Gengxin unmanned plane i (i=1,2,3...N)
Real-time Two-dimensional spatial position (Xi,Yi)。
Step 10: storing and exports unmanned plane cluster position information
The location information at two-dimensional space storage unmanned plane cluster each moment set by step 1, judges whether simultaneously
It is otherwise gone to for the location information of last moment if the last moment then terminates to calculate and export unmanned plane cluster flight path
Step 2.
The invention proposes a kind of cluster super maneuver barrier-avoiding methods of imitative dove group emergency avoidance mechanism, exist for unmanned plane cluster
The urgent avoidance of short distance under environment complicated and changeable provides a solution.This method setting evaluation function determines unmanned plane
Cluster leader's strategy, form into columns by the way of priority selection keeps jointly controlling with avoidance of meeting an urgent need, and passes through speed ratio
Rate threshold value point determines that unmanned plane cluster avoidance Selection Strategy, encoding model simulate dove group's emergency avoidance mechanism, calculate unmanned plane collection
Imitative dove group's emergency avoidance response of group, unmanned plane cluster avoidance position is updated using PD direction controller.This method is to multi rack
Unmanned plane carries out information exchange planning and designing, enhances the monitoring range improved needed for single rack UAV system, angle, work effect
Rate, anti-interference；By the simplicity and rapidity in simulated implementation dove group's avoidance reaction mechanism, with common based on node
Method, the unmanned plane barrier-avoiding method based on mathematical model method and evolution algorithm are compared, and single machine computational load is effectively reduced, and remove this
Except, compared to the common unmanned plane barrier-avoiding method based on sampling method, this method improves unmanned plane and complicated dynamic is appointed
The adaptability for the urgent avoidance of short distance being engaged under environment.
Detailed description of the invention
A kind of flow chart of the cluster super maneuver barrier-avoiding method of imitative dove group emergency avoidance mechanism of Fig. 1 present invention
Fig. 2 unmanned plane cluster flight path
Figure label and symbol description are as follows:
Y --- meet condition (YES)
N --- it is unsatisfactory for condition (no)
Specific embodiment
Having for method proposed by the invention is verified below by a specific unmanned plane cluster super maneuver avoidance example
Effect property.Experimental calculation machine is configured to i5-5200U processor, and 2.20GHz dominant frequency, 4G memory, software environment is R2014b version
Matlab。
The specific implementation steps are as follows for this example:
Step 1: parameter initialization
Determine unmanned plane cluster main frame number 5, target location coordinate (Xg,Yg)=(50dm, 50dm), ignore height coordinate,
X-direction 0dm~5dm, generated within the scope of the two-dimensional space of Y direction 0dm~5dm at random every frame unmanned plane i (i=1,2,
3...5) two-dimensional spatial location (the X of initial timei,Yi)(Xi<5dm,Yi< 5dm), flying speed Vi=1dm/s, course angleThe maximum perceived distance R of unmanned planemax=0.5m, maximum perception angleUnmanned plane Heading control
Device parameter τ=1, ΚP=0.3, KI=0.01, ΚD=0.15, KS=0.08, map and compass factor P1=2, unmanned plane speed
Spend factor P2=0.25, evaluation function weight coefficient w1=0.6, w2=0.4；Ignore height coordinate, X-direction 0dm~
55dm, generates n=20 round obstacle within the scope of the two-dimensional space of Y direction 0dm~55dm at random, each obstacle j (j=1,
2,3...20) central coordinate of circle (xj,yj)(xj≤Xg,yj≤Yg), radius r=0.1m (r < Rmax), computer running time T=
50。
Step 2: current time unmanned plane cluster leader's strategy is determined
In order to choose the evaluation of estimate that barrier is less in close from target position in current time unmanned aerial vehicle group and sensing range
Best unmanned plane is arranged evaluation function h, calculates the evaluation function of current time every frame unmanned plane as head machine (dove group's head dove)
Value, according to sequence using the smallest unmanned plane of evaluation function value as the head machine at current time, remaining unmanned plane (is followed as wing plane
Dove).
H=0.6Di+0.4Mi (1)
Wherein,The distance of target position is arrived for unmanned plane i (i=1,2,3...5),
MiThe barrier quantity detected in sensing range for unmanned plane i (i=1,2,3...5).
Step 3: the dove group for calculating unmanned plane cluster, which forms into columns, keeps information
Every frame unmanned plane keeps mechanism according to dove group, updates corresponding speed, position according to command speed, position function and deposits
Storage, head machine navigate to target position, and wing plane follows a machine to carry out navigation information updating.
Wherein, P1For the mapped directions factor, P2For unmanned plane velocity factor, need to set numerical value, rand all in accordance with specific
() is the random number between 0 to 1,
Step 4: unmanned plane collection realm dove group's obstacle perception
Every frame unmanned plane is the same with single pigeon vision attention region, and vision attention region is in place with unmanned plane i institute
Set (Xi, Yi) it is vertex, radius 0.5m, central angleSector, and vertex to camber line midpoint direction and unmanned plane course angle βi
Unanimously.
Judge whether there is fixed obstacle in the vision attention region of every frame unmanned plane i (i=1,2,3...N), i.e., when solid
The angle determined between the line and unmanned plane course of barrier j to unmanned plane i is less thanAnd between unmanned plane i and fixed obstacle j
Distance be less than or equal to 0.5m when, unmanned plane perceives fixed obstacle j, and carries out Obstacle Position label；
Judge whether there are other unmanned planes in the vision attention region of every frame unmanned plane i (i=1,2,3...N), that is, works as nothing
Angle between man-machine i and the line and unmanned plane course of other unmanned planes is less thanAnd between unmanned plane i and other unmanned planes
When distance is less than or equal to 0.5m, unmanned plane perceives other unmanned planes in vision attention region, and is marked.If unmanned plane
I (i=1,2,3...N) is not detected by fixed obstacle, and is not detected by other unmanned planes, then gos to step two.
Step 5: the obstacle perceptual strategy to other unmanned planes is analyzed
The velocity magnitude and nothing for other unmanned planes that unmanned plane i (i=1,2,3...5) vision attention region internal standard is recorded a demerit
The ratio of the velocity magnitude of man-machine i (i=1,2,3...5) is referred to as velocity rate, setting speed rate threshold 1.5, if velocity rate
Greater than velocity rate threshold value, then the vision attention region secondary mark unmanned plane i (i=1,2,3...5) internal standard record a demerit other
Unmanned plane coordinate.
Step 6: imitative dove group's emergency Robot dodge strategy of unmanned plane cluster is determined
Determine the corresponding dove group emergency Robot dodge strategy of unmanned plane i (i=1,2,3...5), i.e., according to the obstacle (one detected
The unmanned plane that secondary labeled fixed obstacle and secondary mark are crossed) gap and solve to primary labeled fixed obstacle
Avoidance angle γij(j=1,2,3...20) and to secondary mark the avoidance angle γ for the unmanned plane crossedik。
Wherein,αjFor obstacle angular coordinate, βkCourse angle for k-th of the unmanned plane crossed by secondary mark
Coordinate, QikFor the distance of k-th of unmanned plane being crossed by secondary mark to unmanned plane i (i=1,2,3...N).
Step 7: imitative dove group's emergency avoidance response of unmanned plane cluster is calculated
The dove group's emergency avoidance for calculating unmanned plane i (i=1,2,3...5) responds αI, exp(i=1,2,3...5), i.e., by nothing
At maximum gap between man-machine i (i=1,2,3...5) alignment obstacle.
αI, exp=∑ (αj+γij+βk+γik) (8)
Step 8: subsequent time unmanned plane cluster course angle is calculated
Use unmanned plane direction controllerIt executes the emergency avoidance of unmanned plane i (i=1,2,3...5), that is, calculates
The course angle β that subsequent time should execute outi(i=1,2,3...5).
Wherein, error alphai,error=βi-αi,exp, τ is visual perception sensor time delay, KpFor the control of unmanned plane course ratio
Gain, KiFor integration control gain, KDGain, K are controlled for differentialSGain is controlled for stable inertia.
Step 9: unmanned plane cluster subsequent time two-dimensional spatial location is updated
The course angle β being calculated by step 8i(i=1,2,3...5) Lai Gengxin unmanned plane i (i=1,2,3...5)
Real-time Two-dimensional spatial position (Xi,Yi)。
Step 10: storage unmanned plane cluster position information
In the location information at set two-dimensional space storage unmanned plane cluster each moment, while judging whether it is last
Otherwise the location information at moment goes to step 2 if the last moment then terminates to calculate and draw unmanned plane cluster flight path.
With the Contrast on effect of the prior art: traditional emergency barrier-avoiding method mainly can be classified as based on nodal method, be based on
Sampling method, based on mathematical model method and evolution algorithm etc..Based in nodal method, mainly calculated including A* algorithm, Dijsktra
Method etc.；Based in sampling method, main includes Quick Extended random tree method, Voronoi diagram method, probabilistic road maps method, artificial gesture
Field method etc.；Unmanned plane emergency avoidance problem is converted to one by piece-wise linearization and integer programming method based on mathematical model method
The mathematical model of a specification, evolution algorithm are then that unmanned plane emergency avoidance problem is converted to one to find most under constraint condition
The combinatorial optimization problem of excellent solution, the above method is each advantageous on complex environment, operation reaction time and algorithm complexity respectively,
However when combining, lack a good integrated application value.Compared to the above method, the present invention imitates dove group's emergency avoidance machine
Set up the cluster super maneuver barrier-avoiding method of meter respectively environmental suitability, convergence time and in terms of the problem of
On be correspondingly improved and improved, be detailed in the following table 1.
Table 1.
Claims (1)
1. a kind of cluster super maneuver barrier-avoiding method of imitative dove group emergency avoidance mechanism, it is characterised in that: the specific steps of this method
It is as follows:
Step 1: parameter initialization
Determine unmanned plane cluster main frame number N, target position (Xg,Yg), ignore height coordinate, is given birth at random in certain two-dimensional space
At the two-dimensional spatial location (X of every frame unmanned plane i (i=1,2,3...N) initial timei,Yi)(Xi<<Xg,Yi<<Yg), flight speed
Spend Vi, course angleThe maximum perceived distance R of unmanned planemax, maximum perception angle [alpha]max, unmanned plane Heading control
Device parameter τ, KP、KI、KD、KS, map and compass factor P1, unmanned plane velocity factor P2, evaluation function weight coefficient w1、w2；Suddenly
Slightly height coordinate generates n round obstacle, the center of circle of each obstacle j (j=1,2,3...n) at random in certain two-dimensional space
Coordinate (xj,yj)(xj≤Xg,yj≤Yg), radius r (r < Rmax), computer running time T；
Step 2: current time unmanned plane cluster leader's strategy is determined
Evaluation function h is set, the evaluation function value of current time every frame unmanned plane is calculated, it is according to sequence that evaluation function value is minimum
Head machine of the unmanned plane as current time, remaining unmanned plane follows dove as wing plane；
Wherein,The distance of target position, M are arrived for unmanned plane i (i=1,2,3...N)iFor
The barrier quantity that unmanned plane i (i=1,2,3...N) is detected in sensing range；
Step 3: the dove group for calculating unmanned plane cluster, which forms into columns, keeps information
Every frame unmanned plane keeps mechanism according to dove group, updates corresponding speed, position according to command speed, position function and stores,
Head machine navigates to target position, and wing plane follows a machine to carry out navigation information updating；
Wherein, P1For the mapped directions factor, P2For unmanned plane velocity factor, all in accordance with specifically needing to set numerical value, rand () is 0
Random number between to 1,
Step 4: unmanned plane collection realm dove group's obstacle perception
Every frame unmanned plane is the same with single pigeon vision attention region, and vision attention region is with unmanned plane i position (Xi,
Yi) it is vertex, RmaxFor radius, 2 αmaxFor the sector of central angle, and direction and unmanned plane course angle β of the vertex to camber line midpointi
Unanimously；
Judge whether there is fixed obstacle in the vision attention region of every frame unmanned plane i (i=1,2,3...N), i.e., hinders when fixed
The angle between the line and unmanned plane course of object j to unmanned plane i is hindered to be less than αmaxAnd between unmanned plane i and fixed obstacle j away from
From less than or equal to RmaxWhen, unmanned plane perceives fixed obstacle j, and carries out Obstacle Position label；
Judge whether there are other unmanned planes in the vision attention region of every frame unmanned plane i (i=1,2,3...N), i.e., as unmanned plane i
Angle between the line and unmanned plane course of other unmanned planes is less than αmaxAnd the distance between unmanned plane i and other unmanned planes
Less than or equal to RmaxWhen, unmanned plane perceives other unmanned planes in vision attention region, and is marked；If unmanned plane i (i=
1,2,3...N) it is not detected by fixed obstacle, and is not detected by other unmanned planes, then gos to step two；
Step 5: the obstacle perceptual strategy to other unmanned planes is analyzed
The velocity magnitude and unmanned plane for other unmanned planes that unmanned plane i (i=1,2,3...N) vision attention region internal standard is recorded a demerit
The ratio of the velocity magnitude of i (i=1,2,3...N) is referred to as velocity rate, setting speed rate threshold t (t > 1), if velocity rate is big
In velocity rate threshold value, then other nothings that the vision attention region secondary mark unmanned plane i (i=1,2,3...N) internal standard is recorded a demerit
Man-machine coordinate；
Step 6: imitative dove group's emergency Robot dodge strategy of unmanned plane cluster is determined
Determine the corresponding dove group emergency Robot dodge strategy of unmanned plane i (i=1,2,3...N), i.e., according to the obstruction clearance detected and
Solve the avoidance angle γ to primary labeled fixed obstacleij(j=1,2,3...n) and to secondary mark the unmanned plane crossed
Avoidance angle γik；
Wherein,αjFor obstacle angular coordinate, βkIt is sat for the course angle for k-th of the unmanned plane crossed by secondary mark
Mark, QikFor the distance of k-th of unmanned plane being crossed by secondary mark to unmanned plane i (i=1,2,3...N)；
Step 7: imitative dove group's emergency avoidance response of unmanned plane cluster is calculated
The dove group's emergency avoidance for calculating unmanned plane i (i=1,2,3...N) responds αI, exp(i=1,2,3...N), i.e., by unmanned plane i
(i=1,2,3...N) it is aligned at the maximum gap between obstacle；
αI, exp=∑ (αj+γij+βk+γik) (8)
Step 8: subsequent time unmanned plane cluster course angle is calculated
Use unmanned plane direction controllerIt executes the emergency avoidance of unmanned plane i (i=1,2,3...N), that is, calculates down
The course angle β that one moment should executei(i=1,2,3...N)；
Wherein, error alphai,error=βi-αi,exp, τ is visual perception sensor time delay, KpGain is controlled for unmanned plane course ratio,
KiFor integration control gain, KDGain, K are controlled for differentialSGain is controlled for stable inertia；
Step 9: unmanned plane cluster subsequent time two-dimensional spatial location is updated
The course angle β being calculated by step 8i(i=1,2,3...N) reality of Lai Gengxin unmanned plane i (i=1,2,3...N)
When two-dimensional spatial location (Xi,Yi)；
Step 10: storing and exports unmanned plane cluster position information
The location information at two-dimensional space storage unmanned plane cluster each moment set by step 1, while judging whether it is most
Otherwise the location information at moment afterwards goes to step if the last moment then terminates to calculate and export unmanned plane cluster flight path
Two.
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