CN113805608B - Unmanned aerial vehicle formation sky landing method, system and medium based on automatic grouping planning - Google Patents
Unmanned aerial vehicle formation sky landing method, system and medium based on automatic grouping planning Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle formation sky landing method, system and medium based on automatic grouping planning. Based on a path planning algorithm and an optimization assignment algorithm, adopting a grouping algorithm to automatically group unmanned aerial vehicles according to the spatial positions of unmanned aerial vehicle formation, so that adjacent unmanned aerial vehicles in the square matrix are not in the same group; based on the obtained group, generating a virtual target position, calculating an unmanned aerial vehicle formation sky landing path in batches, so that the unmanned aerial vehicles maintain a safe distance in the whole process, and unmanned aerial vehicles adjacent to each other in the square matrix do not land at the same time. The method is suitable for generating the star landing path of the unmanned aerial vehicle formation performance, and is used for carrying out grouping and distributing the target and planning the path on the unmanned aerial vehicle formation. Compared with the traditional regular lifting, the method has the characteristics of one-key generation, good visual effect, safety guarantee and the like. Effectively promote the efficiency of route calculation and receive the visual artistic effect of team when unmanned aerial vehicle performance is finished.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle formation sky landing method based on automatic grouping planning, a control system, a computer readable storage medium and application.
Background
At present, star landing refers to that the unmanned aerial vehicle formation does not maintain the original formation from the last performance picture, each unmanned aerial vehicle flies to the space above the take-off and landing zone, and the time for each unmanned aerial vehicle to reach the space above the take-off and landing zone is random. When the water falls over the sky, the water falls vertically, so that the effect similar to a star sky waterfall is formed. For safety of actual flight, unmanned aerial vehicles adjacent to each other in the square matrix should not land at the same time; and because unmanned aerial vehicle drops in the space of taking off and land the district overhead concentration and leads to unmanned aerial vehicle's secret too big in the space, increased the degree of difficulty of route calculation, also increased the risk of frying the machine.
In order to ensure flight safety and attractive flight effect, designing a star landing path planning method for overcoming the problems is a technical problem to be solved in the field.
Through the above analysis, the problems and defects existing in the prior art are as follows:
(1) In the prior art, unmanned aerial vehicles cannot be automatically grouped according to the space positions of unmanned aerial vehicle formation, and adjacent unmanned aerial vehicles in a square matrix cannot be not in the same group. And the control effect is poor.
(2) In the prior art, the unmanned aerial vehicle cannot be guaranteed to maintain a safety distance in the whole process, and the unmanned aerial vehicles which are adjacent in the square matrix cannot be guaranteed to fall simultaneously.
(3) In the prior art, one-key generation of an unmanned aerial vehicle formation sky landing path cannot be realized, congestion possibly generated in the landing process and simultaneous landing of unmanned aerial vehicles at adjacent positions cannot be avoided, the efficiency of path generation is low, and the availability and safety of the path are poor.
(4) In the prior art, unmanned aerial vehicle sky landing effect can not be realized by combining the lamp effect, so that the visual effect is poor.
The difficulty of solving the problems and the defects is as follows: if a large number of unmanned aerial vehicles start simultaneously, unmanned aerial vehicle cluster is easy to cause congestion above the falling area, is difficult to maintain safe distance, and the visual effect of production is very poor. In addition, in the prior art, the design difficulty is to solve the contradiction between the time and space limitation generated for ensuring the safety and the randomness required for realizing the sky landing effect. Most of the existing sky landing methods cannot support simultaneous departure of a large number of unmanned aerial vehicles.
The meaning of solving the problems and the defects is as follows: the invention creatively designs a grouping planning and target distribution mode, which can meet the requirement that batch unmanned aerial vehicles start at the same time, can not generate congestion above a landing zone, greatly improves the time required by landing, and ensures the safety and the attractiveness.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiments of the invention provide an unmanned aerial vehicle formation sky landing method based on automatic grouping planning, a control system, a computer readable storage medium and an application.
The technical scheme is as follows:
an unmanned aerial vehicle formation sky landing method based on automatic grouping planning comprises the following steps:
based on a path planning algorithm and an optimization assignment algorithm, combining a grouping algorithm to automatically group unmanned aerial vehicles according to the spatial positions of unmanned aerial vehicle formation, so that adjacent unmanned aerial vehicles in a square matrix are not in the same group;
based on the obtained group, generating a virtual target position, calculating an unmanned aerial vehicle formation sky landing path in batches, so that the unmanned aerial vehicles maintain a safe distance in the whole process, and unmanned aerial vehicles adjacent to each other in the square matrix do not land at the same time.
In an embodiment of the present invention, an unmanned aerial vehicle formation sky landing method based on automatic packet planning specifically includes:
step one, reading a performance picture, a ground placement picture, a last performance picture and a safety height set by a user of an unmanned aerial vehicle formation;
step two, automatically analyzing the formation space positions of the ground unmanned aerial vehicle and grouping;
step three, automatically generating virtual target positions of all groups of unmanned aerial vehicles based on the grouping;
step four, solving assignment mapping according to the performance picture and the virtual target position;
fifthly, adopting a path planning algorithm APF to group and calculate paths according to the assigned results;
and step six, if the unmanned aerial vehicle is detected to reach the virtual target position, performing vertical landing.
In an embodiment of the present invention, the step two specifically includes: the ground placement positions of unmanned aerial vehicle formation are read, unmanned aerial vehicle intervals are automatically calculated according to the unmanned aerial vehicle position information, gridding division is conducted on the arrays, unmanned aerial vehicles are grouped according to the relative positions of all unmanned aerial vehicles in all grids, and the fact that adjacent unmanned aerial vehicles are placed on the ground and are not located in the same group is achieved.
In one embodiment of the invention, the minimum distance between unmanned aerial vehicles is calculated according to the placing positions of the unmanned aerial vehicles on the ground and the unmanned aerial vehicles are grouped; firstly, traversing all unmanned aerial vehicles to detect minimum distance D min And takeA pair of unmanned aerial vehicles with minimum spacing judges whether the direction of the square matrix is right relative to a coordinate system; if the unmanned aerial vehicles are placed with offset angles, the coordinate system is required to rotate, so that all the unmanned aerial vehicles are grouped according to the space positions; the unmanned aerial vehicles with the same numbers belong to the same group, and the unmanned aerial vehicles in the same group are not adjacent.
In an embodiment of the present invention, in the third step, the virtual target heights of the unmanned aerial vehicles in each group are different, the horizontal coordinates are consistent with the ground placement frames, and the heights of the unmanned aerial vehicles in the bottommost group are set as the safety heights and are higher than the heights of the obstacles in the performance area;
for each unmanned aerial vehicle UAV in the formation i (X i ,Y i ,Z i ) Each unmanned aerial vehicle generates a group number group_number after grouping, and the virtual target heights of the unmanned aerial vehicles in the same group are kept consistent; the selection method of the virtual target position is based on the formula:
in an embodiment of the present invention, the step four specifically includes: based on a simulated annealing optimization assignment algorithm, calculating assignment mapping according to the last performance picture and the virtual target picture by taking the shortest total flight distance as a principle, and acquiring a path from the last performance picture to the virtual target so as to enable the sum of the total distances of all unmanned aerial vehicles moving from the last performance picture position to the virtual target position to be shortest.
In one embodiment of the present invention, obtaining a path from the last performance picture to the virtual target, wherein the sum of total distances of all the unmanned aerial vehicles moving from the last performance picture position to the virtual target position is the shortest includes:
calculating the minimum distance, namely traversing the distance between all unmanned aerial vehicles relative to other unmanned aerial vehicles in the whole process, and solving the minimum value; the calculation formula of the distance is as follows:
calculating the speed by adopting the change of the position of the unmanned aerial vehicle at adjacent moments; wherein for the speed in the vertical direction, the maximum value is the maximum rising speed, the minimum value is the maximum falling speed, and the calculation formula is:
v maximum rise ＝max(v Vertical direction )
v Maximum drop ＝min(v Vertical direction )
Calculating the maximum horizontal speed and the maximum total speed, traversing the horizontal speeds and the total speeds of all the aircrafts in the whole process, and solving the maximum value; the calculation formulas of the horizontal speed and the combined speed are as follows:
in an embodiment of the present invention, the fifth step specifically includes:
calculating paths by adopting peak-shifting grouping in path calculation; the first group of the virtual target position at the lowest layer starts first and keeps the maximum speed, and the other groups start in sequence according to the group number and keep the descending trend of the speed;
because if all unmanned aerial vehicles start together, congestion is unavoidable. Therefore, according to the method, each group of aircraft is staggered for about 1 second to start, and the speed of the aircraft which starts first is maximum, so that congestion can not occur when the aircraft reaches a landing area, and the visual effect is good.
In the step six, each unmanned aerial vehicle starts landing once reaching the virtual target position, and the kinematics rule of the unmanned aerial vehicle is followed; when the transition from the performance painting to the virtual target position is performed, the unmanned aerial vehicle uniformly accelerates, uniformly speeds and uniformly decelerates; finally, the slow descent at a low speed is carried out after the slow descent height near the ground is reached.
Another object of the present invention is to provide an unmanned aerial vehicle formation sky landing control system based on automatic packet planning, which includes a memory and a controller;
the memory stores a computer program which, when executed by the controller, causes the controller to perform the steps of:
step one, reading a performance picture, a ground placement picture, a last performance picture and a safety height set by a user of an unmanned aerial vehicle formation;
step two, automatically analyzing the formation space positions of the ground unmanned aerial vehicle and grouping;
step three, automatically generating virtual target positions of all groups of unmanned aerial vehicles based on the grouping;
step four, solving assignment mapping according to the performance picture and the virtual target position;
fifthly, adopting a path planning algorithm APF to group and calculate paths according to the assigned results;
and step six, if the unmanned aerial vehicle is detected to reach the virtual target position, performing vertical landing.
Another object of the present invention is to provide a computer readable storage medium storing a computer program, which when executed by a processor, causes the processor to perform the unmanned aerial vehicle formation sky drop method based on automatic packet planning.
The invention further aims to provide an application of the unmanned aerial vehicle formation star landing method based on automatic grouping planning to unmanned aerial vehicle formation large-scale assembly.
By combining all the technical schemes, the invention has the advantages and positive effects that:
the invention has the application background of unmanned aerial vehicle formation light show. The background is formed by using a plurality of unmanned aerial vehicles in a plurality of frames, forms and patterns are formed in the air, and the specific light effect is displayed by utilizing the carried light display equipment, so that a certain ornamental and artistic effect is achieved.
Furthermore, the star landing implementation method for unmanned aerial vehicle formation is based on a path planning algorithm and an optimization assignment algorithm, and the unmanned aerial vehicles are automatically grouped according to the spatial positions of the unmanned aerial vehicle formation by adopting a grouping algorithm, so that adjacent unmanned aerial vehicles in a square matrix are not in the same group.
The automatic grouping of the invention is based on position de-grouping, and the unmanned aerial vehicles in the same group are guaranteed not to be adjacent. The invention carries out related experiments by the method, and divides the aircrafts into 2 groups, 4 groups and 9 groups. The packet success rate was 100%.
The invention finally realizes the generation of the star sky landing path of the unmanned aerial vehicle formation, can ensure that the unmanned aerial vehicle maintains a safe distance in the whole course, and the unmanned aerial vehicles adjacent to each other in the square matrix cannot land at the same time.
Experiments according to the invention show that: when the ground of the unmanned aerial vehicle is placed at 1.5m, the minimum distance of the whole process is 1.5m (namely the ground distance); when the ground placement distance of the unmanned aerial vehicle is 2m, the minimum distance of the whole process is measured to be kept about 1.7m on average. In practice this spacing setting may be changed depending on the adjustment related parameters.
Advantages of the present invention compared to the prior art further include:
the method is suitable for generating the star landing path of the unmanned aerial vehicle formation performance, and is used for carrying out grouping and distributing the target and planning the path on the unmanned aerial vehicle formation. Compared with the traditional regular lifting, the method has the characteristics of one-key generation, good visual effect, safety guarantee and the like. Effectively promote the efficiency of route calculation and receive the visual artistic effect of team when unmanned aerial vehicle performance is finished.
The invention can realize automatic grouping of unmanned aerial vehicles and respective allocation of target calculation paths, and on the basis of the calculation paths, one-key generation of unmanned aerial vehicle formation sky landing paths is realized, congestion possibly generated in the landing process and the condition that unmanned aerial vehicles in adjacent positions land simultaneously are avoided, the efficiency of path generation is improved, and the availability and safety of the paths are ensured.
Compared with other methods, the method can realize that a large number of unmanned aerial vehicles start from the last performance picture to prepare to land simultaneously, generate continuous picture effects, and can meet the safety requirements of unmanned aerial vehicle formation.
The invention can combine the light effect to realize the sky landing effect of the unmanned aerial vehicle and improve the visual effect.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart of a method for generating a sky landing path of unmanned aerial vehicle formation provided by an embodiment of the invention.
Fig. 2 is a block diagram of four groups according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a first uniform acceleration and then uniform velocity and a last uniform deceleration movement of the unmanned aerial vehicle when the transition from the performance painting to the virtual target position is provided in the embodiment of the invention; vertical drop phase effect map (three frames of map taken in the path generated by the method of the invention).
Wherein: fig. 3 (a) shows the first frame, the last frame of the performance picture input by the system. FIG. 3 (b) is one of the frames taken in the sky drop path generated by the method; the method comprises the steps of carrying out a first treatment on the surface of the Fig. 3 (c) is the last frame, ground placement.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and the like are used herein for illustrative purposes only and are not meant to be the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the invention provides a method for generating a sky landing path of unmanned aerial vehicle formation, which comprises the following steps:
step one: inputting a ground placement picture and a last performance picture of unmanned aerial vehicle formation and a safety height to the system;
step two: reading the ground placement positions of unmanned aerial vehicle formation, automatically calculating the distance between unmanned aerial vehicles according to the position information of the unmanned aerial vehicles, carrying out gridding segmentation on the arrays, and grouping the unmanned aerial vehicles according to the relative positions of each unmanned aerial vehicle in each grid so as to realize that the unmanned aerial vehicles adjacent to ground placement are not in the same group;
step three: setting virtual target pictures of each group of unmanned aerial vehicles above the take-off and landing zone based on the grouping of the second step, wherein the virtual target heights of each group of unmanned aerial vehicles are different, the horizontal coordinates are consistent with the ground placement picture, and the heights of the unmanned aerial vehicles positioned at the bottommost group are set as safe heights and are higher than the heights of barriers existing in the performance zone;
step four: based on a simulated annealing optimization assignment algorithm, calculating assignment mapping according to the last performance picture and the virtual target picture by taking the shortest total flight distance as a principle, wherein the sum of distances from the unmanned aerial vehicle to the virtual target of the last performance picture can be shortest through assignment.
Step five: based on the APF algorithm, a path is calculated from the assigned performance picture and the virtual target picture. The starting time and the maximum flying speed of each group of unmanned aerial vehicles can be set to realize the effect that each unmanned aerial vehicle successively reaches a virtual target at different densities;
step six: each unmanned aerial vehicle starts landing once reaching the virtual target position, and the aircraft starts landing at uniform speed reduction when reaching a certain altitude from the ground for ensuring safety.
In a preferred embodiment of the present invention, the second step may calculate the minimum distance between the unmanned aerial vehicles according to the placement positions of the unmanned aerial vehicles on the ground and group the unmanned aerial vehicles. Firstly, traversing all unmanned aerial vehicles to detect minimum distance D min And a pair of unmanned aerial vehicles with minimum spacing is taken to judge whether the direction of the square matrix is right to the coordinate system. If the unmanned aerial vehicle is placed with an offset angle, the coordinate system is required to rotate first. And then all unmanned aerial vehicles can be grouped according to the space positions. The grouping effect of taking four groups as examples is shown in fig. 2, and unmanned aerial vehicles with the same number belong to the same group, so that the unmanned aerial vehicles in the same group can be ensured not to be adjacent.
In a preferred embodiment of the present invention, the third step may allocate virtual target positions to each group of unmanned aerial vehicles based on the grouping. For each unmanned aerial vehicle UAV in the formation i (X i ,Y i ,Z i ) After grouping, each unmanned aerial vehicle generates a group number group_number, and the virtual target heights of the unmanned aerial vehicles in the same group are kept consistent. The selection method of the virtual target position is based on the formula:
in a preferred embodiment of the present invention, the step four may be to plan the path from the last performance picture to the virtual target based on the artificial potential field path planning method combined with the optimization assignment, so as to minimize the sum of the total distances of all the unmanned aerial vehicles moving from the performance picture position to the virtual target position. By using the method, the efficiency of path calculation can be improved and a better path calculation result can be obtained.
In a preferred embodiment of the present invention, in the fifth step, a method of calculating the path by using peak-shifting packets is adopted in the path calculation. And the group with the virtual target position at the lowest layer, namely the first group, starts first and keeps the maximum speed, and the other groups start sequentially according to the group number and keep the descending trend of the speed. The method is matched with optimization assignment, so that the possibility of congestion of the unmanned aerial vehicle near the virtual target position is further reduced, an effect similar to a firework waterfall can be generated, and the usability and the attractiveness of a path result are comprehensively ensured.
In a preferred embodiment of the present invention, the sixth step ensures that the overall process follows the kinematics of the unmanned plane while ensuring an attractive computing effect. When the transition from the performance painting to the virtual target position is performed, uniformly accelerating the unmanned aerial vehicle, uniformly decelerating the unmanned aerial vehicle at last; in the vertical landing stage, as the response of the unmanned aerial vehicle in the vertical direction is faster, the unmanned aerial vehicle is slowly dropped at a lower speed after being uniformly decelerated at a first uniform speed and then finally reaching the near-ground slow drop height.
The invention automatically groups based on ground placement and generates virtual target positions based on the groups, and calculates paths in batches. According to the scheme, the problem that the existing scheme is difficult to realize simultaneous departure of large-scale unmanned aerial vehicles is solved, the requirement that the large-scale unmanned aerial vehicles are started simultaneously can be met, the time required by formation landing of the unmanned aerial vehicles is reduced, and the visual effect is improved.
In a preferred embodiment of the present invention, the position parameters of the last performance picture and the ground placement picture can also be directly input, and a series of path points can be automatically calculated and generated by the method of the present invention. The unmanned aerial vehicles can achieve the cluster performance effect by reading the path points generated by the method.
The technical effects of the present invention will be further described with reference to specific application examples.
Application example
In the present invention, as described in step six, the final effect is shown in fig. 3, and fig. 3 (a-c) is three frames taken in the path generated by the present method. Where fig. 3 (a) is the first frame, the last frame of the performance picture input by the system. Fig. 3 (c) is the last frame, ground placement. Fig. 3 (b) is one of the frames taken in the sky drop path generated by the method. The white point in the figure is the performing drone.
The detailed parameters of the result analysis of the sky drop path obtained by the method of the present invention are shown in table 1.
TABLE 1
Table 1 shows the analysis results of the sky drop path calculated by the method of the present invention from the last performance picture input as shown in fig. 3 (a) and the ground placement picture input as shown in fig. 3 (c), wherein the number of unmanned aerial vehicles is 500. For this set of input data, all drones completed landing over 2 minutes 10 seconds. Wherein, the setting value of the parameter of table 1 is set according to the actual safety index of unmanned aerial vehicle performance. The calculation result is obtained by calculating and analyzing the path obtained by calculation according to the method. The minimum distance is calculated by traversing the distances between all unmanned aerial vehicles and other unmanned aerial vehicles in the whole process, and the minimum value is obtained. The calculation formula of the distance is as follows:
the speed of the method is calculated by adopting the change of the unmanned plane position at the adjacent moment. The maximum value of the speed in the vertical direction is the maximum rising speed, the minimum value is the maximum falling speed, and the calculation formula is as follows:
v maximum rise ＝max(v Vertical direction )
v Maximum drop ＝min(v Vertical direction )
The calculation of the maximum horizontal velocity and the maximum total velocity of the method requires traversing the horizontal velocity and the total velocity of all the aircrafts in the whole process, and solving the maximum value. The calculation formulas of the horizontal speed and the combined speed are as follows:
according to the results shown in Table 1, the star landing paths calculated by the method meet the actual flight requirements in terms of space maintenance and speed maintenance. In addition, the performance of the method is tested by adopting other groups of different input pictures, and the method can meet the set standard. In actual use, after the star landing path is generated by adopting the method, the generated path is analyzed through the formula, if the path can meet the set standard, the path can be issued to the unmanned aerial vehicle in dancing steps, and the star landing effect of the unmanned aerial vehicle performance is completed.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure should be limited by the attached claims.
Claims (7)
1. The unmanned aerial vehicle formation sky landing method based on automatic grouping planning is characterized by comprising the following steps of:
based on a path planning algorithm and an optimization assignment algorithm, combining a grouping algorithm to automatically group unmanned aerial vehicles according to the spatial positions of unmanned aerial vehicle formation, so that adjacent unmanned aerial vehicles in a square matrix are not in the same group;
generating a virtual target position based on the obtained group, and calculating a formation sky landing path of the unmanned aerial vehicle in batches, so that the unmanned aerial vehicle maintains a safe distance in the whole process, and unmanned aerial vehicles adjacent to each other in the square matrix land at different times;
the unmanned aerial vehicle formation sky landing method based on automatic grouping planning specifically comprises the following steps:
step one, reading a performance picture, a ground placement picture, a last performance picture and a safety height set by a user of an unmanned aerial vehicle formation;
step two, automatically analyzing the formation space positions of the ground unmanned aerial vehicle and grouping;
step three, automatically generating virtual target positions of all groups of unmanned aerial vehicles based on the grouping;
step four, solving assignment mapping according to the performance picture and the virtual target position;
fifthly, adopting a path planning algorithm APF to group and calculate paths according to the assigned results;
step six, if the unmanned aerial vehicle is detected to reach the virtual target position, performing vertical landing;
in the third step, the virtual target heights of the unmanned aerial vehicles of each group are different, the horizontal coordinates are consistent with the ground placement pictures, and the heights of the unmanned aerial vehicles positioned at the bottommost group are set as the safety heights and are higher than the heights of the obstacles in the performance area;
for each unmanned aerial vehicle UAV in the formation i (X i ,Y i ,Z i ) Each unmanned aerial vehicle generates a group number group_number after grouping, and the virtual target heights of the unmanned aerial vehicles in the same group are kept consistent; the selection method of the virtual target position is based on the formula:
2. the unmanned aerial vehicle formation sky drop method based on automatic group planning according to claim 1, wherein the second step specifically comprises: reading the ground placement positions of unmanned aerial vehicle formation, automatically calculating the distance between unmanned aerial vehicles according to the position information of the unmanned aerial vehicles, carrying out gridding segmentation on the arrays, and grouping the unmanned aerial vehicles according to the relative positions of each unmanned aerial vehicle in each grid so as to realize that the unmanned aerial vehicles adjacent to ground placement are not in the same group;
calculating the minimum distance between unmanned aerial vehicles according to the ground unmanned aerial vehicle placing positions and grouping; firstly, traversing all unmanned aerial vehicles to detect minimum distance D min A pair of unmanned aerial vehicles with minimum spacing is taken to judge whether the direction of the square matrix is right to a coordinate system; if the unmanned aerial vehicles are placed with offset angles, the coordinate system is required to rotate, so that all the unmanned aerial vehicles are grouped according to the space positions; the unmanned aerial vehicles with the same numbers belong to the same group, and the unmanned aerial vehicles in the same group are not adjacent.
3. The unmanned aerial vehicle formation sky drop method based on automatic group planning according to claim 1, wherein the fourth step specifically comprises: based on a simulated annealing optimization assignment algorithm, calculating assignment mapping according to the last performance picture and the virtual target picture by taking the shortest total flight distance as a principle, and acquiring a path from the last performance picture to the virtual target so as to enable the sum of the total distances of all unmanned aerial vehicles moving from the last performance picture position to the virtual target position to be shortest.
4. An automated group planning based unmanned aerial vehicle formation sky drop method according to claim 3, wherein obtaining the path of the last performance picture to the virtual target, wherein the sum of the total distances of all unmanned aerial vehicles moving from the last performance picture position to the virtual target position is the shortest comprises:
calculating the minimum distance, namely traversing the distance between all unmanned aerial vehicles relative to other unmanned aerial vehicles in the whole process, and solving the minimum value; the calculation formula of the distance is as follows:
calculating the speed by adopting the change of the position of the unmanned aerial vehicle at adjacent moments; wherein for the speed in the vertical direction, the maximum value is the maximum rising speed, the minimum value is the maximum falling speed, and the calculation formula is:
v maximum rise ＝max(v Vertical direction )
v Maximum drop ＝min(v Vertical direction )
Calculating the maximum horizontal speed and the maximum total speed, traversing the horizontal speeds and the total speeds of all the aircrafts in the whole process, and solving the maximum value; the calculation formulas of the horizontal speed and the combined speed are as follows:
5. the unmanned aerial vehicle formation sky drop method based on automatic group planning according to claim 1, wherein the fifth step specifically comprises:
calculating paths by adopting peak-shifting grouping in path calculation; the first group of the virtual target position at the lowest layer starts first and keeps the maximum speed, and the other groups start in sequence according to the group number and keep the descending trend of the speed;
in the sixth step, each unmanned aerial vehicle starts landing once reaching the virtual target position; when the transition from the performance painting to the virtual target position is performed, the unmanned aerial vehicle uniformly accelerates, uniformly speeds and uniformly decelerates; finally, the slow descent at a low speed is carried out after the slow descent height near the ground is reached.
6. An automatic grouping planning-based unmanned aerial vehicle formation sky drop control system for implementing the automatic grouping planning-based unmanned aerial vehicle formation sky drop method of any one of claims 1 to 5, wherein the automatic grouping planning-based unmanned aerial vehicle formation sky drop control system comprises a memory and a controller;
the memory stores a computer program which, when executed by the controller, causes the controller to perform the steps of:
step one, reading a performance picture, a ground placement picture, a last performance picture and a safety height set by a user of an unmanned aerial vehicle formation;
step two, automatically analyzing the formation space positions of the ground unmanned aerial vehicle and grouping;
step three, automatically generating virtual target positions of all groups of unmanned aerial vehicles based on the grouping;
step four, solving assignment mapping according to the performance picture and the virtual target position;
fifthly, adopting a path planning algorithm APF to group and calculate paths according to the assigned results;
and step six, if the unmanned aerial vehicle is detected to reach the virtual target position, performing vertical landing.
7. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the unmanned aerial vehicle formation sky drop method based on automatic packet planning of any of claims 1 to 5.
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