CN113885554A - Distributed enclosure control method and system for unmanned aerial vehicle cluster - Google Patents
Distributed enclosure control method and system for unmanned aerial vehicle cluster Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a distributed enclosure control method and a distributed enclosure control system for an unmanned aerial vehicle cluster, wherein the method comprises the following steps: the method comprises the steps that unmanned aerial vehicles in a group carry out target detection, the distance between the unmanned aerial vehicle and each target is obtained, and the number of the unmanned aerial vehicles for capturing each target is obtained, so that the capture target of the unmanned aerial vehicle is determined; the unmanned aerial vehicle for capturing the target to be captured of the unmanned aerial vehicle is used as the unmanned aerial vehicle cluster, the unmanned aerial vehicle determines the control speed of the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the group, the distance between the unmanned aerial vehicle and each target, the distance between the unmanned aerial vehicle and an obstacle, the distance between the unmanned aerial vehicle and a field boundary, the distance between the unmanned aerial vehicle and the target to be captured and the expected radius of the enclosure of the unmanned aerial vehicle cluster, and flies according to the control speed to capture the target to be captured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a distributed enclosure control method and system for an unmanned aerial vehicle cluster.
Background
Unmanned aerial vehicle cluster flight is becoming a hot spot of research in various fields at present, such as police unmanned aerial vehicle group detection, post-disaster rescue, light show and the like. The unmanned aerial vehicle has the characteristics of small volume, high safety, low manufacturing cost and the like, and the advantages of the unmanned aerial vehicle in autonomous cluster flight execution tasks are increasingly shown. The unmanned aerial vehicle autonomous cluster trapping means that an unmanned aerial vehicle cluster flies in the air in a cluster state, and a cluster cooperation executes a surrounding task, so that the unmanned aerial vehicle autonomous cluster trapping is an important application of the unmanned aerial vehicle autonomous cluster flying execution task.
In the prior art, an unmanned aerial vehicle is mostly manually controlled to complete a flight task, namely, an unmanned aerial vehicle cluster receives an instruction of a ground workbench in real time and executes the task according to the instruction, and a central control node exists. The unmanned aerial vehicle cluster catches the target under the control of the central node, namely the behavior of the unmanned aerial vehicle is controlled by the ground workbench, and the unmanned aerial vehicle does not have the function of self-cluster catching.
Disclosure of Invention
The invention aims to provide a distributed enclosure control method and a distributed enclosure control system for an unmanned aerial vehicle cluster, which have an autonomous cluster enclosure function, solve one or more technical problems in the prior art and provide at least one beneficial selection or creation condition.
In order to achieve the purpose, the invention provides the following technical scheme:
a distributed enclosure control method for a cluster of drones, the method comprising the steps of:
s100, detecting targets by unmanned aerial vehicles in a group, and acquiring the distance between the unmanned aerial vehicle and each target and the number of unmanned aerial vehicles for capturing each target;
s200, determining the capture targets of the unmanned aerial vehicles by the unmanned aerial vehicles according to the distance between the unmanned aerial vehicles and each target and the number of the unmanned aerial vehicles capturing each target;
step S300, using a plurality of unmanned aerial vehicles for capturing the capture target of the unmanned aerial vehicle as an unmanned aerial vehicle cluster, and obtaining the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the cluster, the distance between the unmanned aerial vehicle and each target, the distance between the unmanned aerial vehicle and an obstacle, the distance between the unmanned aerial vehicle and a field boundary, the distance between the unmanned aerial vehicle and the capture target, and the expected radius of the capture target of the unmanned aerial vehicle cluster;
step S400, the unmanned aerial vehicle determines the control speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the group, the distance between the unmanned aerial vehicle and each target, the distance between the unmanned aerial vehicle and an obstacle, the distance between the unmanned aerial vehicle and a field boundary, the distance between the unmanned aerial vehicle and a target for enclosure and the expected enclosure radius of the unmanned aerial vehicle group;
and S500, the unmanned aerial vehicle flies according to the control speed to capture the capture target.
Further, the step S200 includes:
step S210, the unmanned aerial vehicle determines a first matrix according to the distance between the unmanned aerial vehicle and each target and the number of the unmanned aerial vehicles for capturing each target, wherein the first matrix is used for representing the capturing weight of each target;
and S220, carrying out maximum value indexing on the first matrix, indexing the maximum value of the capture weight, and taking a target corresponding to the sequence number of the maximum value as the capture target of the unmanned aerial vehicle.
Further, the calculation formula of the first matrix is as follows:
wherein seqkThe capture weight of the kth target, (a, b) is a weight matrix, ritarkIs the distance of the ith unmanned plane from the kth target, NitarkThe number of unmanned aerial vehicles for capturing the kth target; k is 1, 2,. n; n is the total number of targets.
Further, the step S400 includes:
step S410, determining a first speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the cluster and the distance between the unmanned aerial vehicle and each target;
step S420, the unmanned aerial vehicle determines a second speed of the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the obstacle;
step S430, the unmanned aerial vehicle determines a third speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and the field boundary;
step S440, the unmanned aerial vehicle determines a fourth speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and the target for enclosure and the radius of an expected enclosure of the unmanned aerial vehicle cluster;
step S450, determining the control speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the first speed, the second speed, the third speed and the fourth speed of the unmanned aerial vehicle.
Further, the step S410 includes:
s411, determining a first repelling speed of the unmanned aerial vehicle at the current moment by the unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the unmanned aerial vehicle cluster;
step S412, determining a second repulsion speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the distance between the unmanned aerial vehicle and each target;
and step S413, superposing the first repulsion speed and the second repulsion speed of the unmanned aerial vehicle to obtain the first speed of the unmanned aerial vehicle at the current moment.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the distributed enclosure control method of a cluster of drones as described in any one of the above.
A distributed enclosure control system for a cluster of drones, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the distributed enclosure control method for the cluster of drones described in any one of the above.
The invention has the beneficial effects that: the invention discloses a distributed enclosure control method and a distributed enclosure control system for unmanned aerial vehicle clusters, which are used for the unmanned aerial vehicle clusters to execute enclosure tasks in a certain area range, the invention realizes autonomous enclosure of the unmanned aerial vehicle clusters, does not have a central control node, and the unmanned aerial vehicle adaptively decides and groups the enclosure targets in real time, so that the unmanned aerial vehicle autonomously cooperates to execute the enclosure tasks, the cluster enclosure effect can be achieved without manual control, and the method and the system are simple and convenient; unmanned aerial vehicle dodges the barrier at the flight in-process is automatic, independently keeps away and collides between the unmanned aerial vehicle to keep flying in the place, the security is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a distributed enclosure control method for an unmanned aerial vehicle cluster in an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an effect of a drone swarm performing cluster enclosure in a site according to an embodiment of the present invention;
fig. 3 is a simulation experiment effect diagram of the distributed enclosure of the unmanned aerial vehicle cluster in one scene in the embodiment of the present invention;
fig. 4 is a diagram illustrating an effect of a simulation experiment in which a drone group performs distributed enclosure in another scenario according to an embodiment of the present invention;
fig. 5 is a diagram illustrating an effect of a simulation experiment in which a drone swarm performs distributed enclosure in another scenario according to an embodiment of the present invention.
Detailed Description
The conception, specific structure and technical effects of the present application will be described clearly and completely with reference to the following embodiments and the accompanying drawings, so that the purpose, scheme and effects of the present application can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, as shown in fig. 1, a distributed enclosure control method for a cluster of unmanned aerial vehicles according to an embodiment of the present application includes the following steps:
s100, detecting targets by unmanned aerial vehicles in a group, and acquiring the distance between the unmanned aerial vehicle and each target and the number of unmanned aerial vehicles for capturing each target;
s200, determining the capture targets of the unmanned aerial vehicles by the unmanned aerial vehicles according to the distance between the unmanned aerial vehicles and each target and the number of the unmanned aerial vehicles capturing each target;
step S300, using a plurality of unmanned aerial vehicles for capturing the capture target of the unmanned aerial vehicle as an unmanned aerial vehicle cluster, and obtaining the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the cluster, the distance between the unmanned aerial vehicle and each target, the distance between the unmanned aerial vehicle and an obstacle, the distance between the unmanned aerial vehicle and a field boundary, the distance between the unmanned aerial vehicle and the capture target, and the expected radius of the capture target of the unmanned aerial vehicle cluster;
step S400, the unmanned aerial vehicle determines the control speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the group, the distance between the unmanned aerial vehicle and each target, the distance between the unmanned aerial vehicle and an obstacle, the distance between the unmanned aerial vehicle and a field boundary, the distance between the unmanned aerial vehicle and a target for enclosure and the expected enclosure radius of the unmanned aerial vehicle group;
and S500, the unmanned aerial vehicle flies according to the control speed to capture the capture target.
It should be noted that, in the embodiment provided by the present invention, a group includes all the unmanned aerial vehicles, and the unmanned aerial vehicle cluster is a set of unmanned aerial vehicles capturing the same target, and it can be understood that the unmanned aerial vehicles in the group are divided into a plurality of unmanned aerial vehicle clusters; specifically, after each unmanned aerial vehicle determines the respective enclosure target, the unmanned aerial vehicles which enclose the same enclosure target form an unmanned aerial vehicle cluster, then the unmanned aerial vehicles in the unmanned aerial vehicle cluster fly towards the enclosure target to carry out enclosure, and in the flying process, the unmanned aerial vehicles need to adjust the flying speed in due time according to the distances between the unmanned aerial vehicles and the surrounding unmanned aerial vehicles, the targets, the obstacles and the field boundary, so that the enclosure target is enclosed according to the expected enclosure radius of the unmanned aerial vehicle cluster on the premise of avoiding collision.
As a further improvement of the above embodiment, the step S200 includes:
step S210, the unmanned aerial vehicle determines a first matrix according to the distance between the unmanned aerial vehicle and each target and the number of the unmanned aerial vehicles for capturing each target, wherein the first matrix is used for representing the capturing weight of each target;
the calculation formula of the first matrix is as follows:
wherein seqkThe capture weight of the kth target, (a, b) is a weight matrix, ritarkIs the distance of the ith unmanned plane from the kth target, NitarkThe number of unmanned aerial vehicles for capturing the kth target; k is 1, 2,. n; n is the total number of targets.
It should be noted that in some embodiments, the weight matrix (a, b) is obtained based on expert experience and actual operating conditions.
And S220, carrying out maximum value indexing on the first matrix, indexing the maximum value of the capture weight, and taking a target corresponding to the sequence number of the maximum value as the capture target of the unmanned aerial vehicle.
In this embodiment, an adaptive decision is made according to the surrounding condition of the target, and the surrounding target of each unmanned aerial vehicle is determined in real time. And the target serial number at the maximum value is the target which should be preferentially selected currently by the unmanned aerial vehicle group and is used as the current object to be trapped.
Referring to fig. 2, as a further modification of the above embodiment, the step S400 includes:
step S410, determining a first speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the cluster and the distance between the unmanned aerial vehicle and each target; wherein the first speed is a speed at which the unmanned aerial vehicle is subjected to the repulsive force of peripheral unmanned aerial vehicles and the repulsive force of each target.
In one embodiment, the step S410 includes:
s411, determining a first repelling speed of the unmanned aerial vehicle at the current moment by the unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the unmanned aerial vehicle cluster;
the calculation formula of the first repelling speed of the unmanned aerial vehicle is as follows:
wherein the content of the first and second substances,
for the first repulsion velocity of the ith drone,
in order to be able to adjust the parameters,
has a value range of [0.2,10.0 ]]Unit is m2/s，ragentrepIs a first distance threshold, riIs the current position of the ith drone, rjThe current position of the jth unmanned aerial vehicle; r isijIs the distance between the ith and jth drone, rij＝|ri-rj|。
It is understood that in the present embodiment, the repelling speed of the drones is determined based on the repulsion law, that is, if the distance between two drones in the group is smaller than the first distance threshold, the drones will generate repelling speeds in opposite directions, so that no collision occurs between the drones.
Step S412, determining a second repulsion speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the distance between the unmanned aerial vehicle and each target;
the calculation formula of the second repelling speed of the unmanned aerial vehicle is as follows:
wherein the content of the first and second substances,
for the second repulsion velocity of the ith drone,
in order to be able to adjust the parameters,
has a value range of [0.2,10.0 ]]Unit is m2/s，rtargetrepIs a second distance threshold, rtargetIs the current position of the target; r isitargetIs the distance between the ith drone and the target.
It should be noted that the repulsion rule is also applied between the drone and the target. But there is a unidirectional repulsion between the drone and the target. After the unmanned aerial vehicle detects the target (i.e. the distance between the unmanned aerial vehicle and the target is within the second distance threshold), the unmanned aerial vehicle can be subjected to the repulsion speed of the target, and the unmanned aerial vehicle is prevented from colliding with the target.
Step S413, superposing the first repulsion speed and the second repulsion speed of the unmanned aerial vehicle to obtain the first speed of the unmanned aerial vehicle at the current moment;
wherein the content of the first and second substances,
the first speed of the ith unmanned aerial vehicle at the current moment is obtained.
It should be noted that, for the ith drone, the repulsion velocity influence generated by all drones within the first distance threshold needs to be considered, and the repulsion velocity influence caused by all targets within the second distance threshold needs to be considered, so the above formula is adopted to obtain the repulsion velocity of the drone as the first velocity of the drone at the current moment.
Step S420, the unmanned aerial vehicle determines a second speed of the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the obstacle; wherein the second speed is the speed at which the unmanned aerial vehicle avoids obstacles;
the calculation formula of the second speed of the unmanned aerial vehicle at the current moment is as follows:
wherein the content of the first and second substances,
the second speed of the ith unmanned aerial vehicle at the current moment is the speed at which the ith unmanned aerial vehicle avoids encountering the obstacle, viThe current speed of the ith unmanned aerial vehicle; v. ofsRepresenting a first virtual speed of a first virtual agent, the first virtual agent being located at a position on an edge of an obstacle where a point closest to the drone is located; wherein the first virtual speed vsWhen the unmanned aerial vehicle is too close to the edge of the obstacle, the speed generated by the first virtual agent on the edge of the obstacle is obtained; when the unmanned aerial vehicle is about to collide with the obstacle, the unmanned aerial vehicle is far away from the obstacle, and the first virtual intelligent body does not generate displacement under the action of the first virtual speed; first virtual velocity vsIs perpendicular to the first virtual intelligenceThe obstacle edge line where the energy body is located points to the field, the field is the flight area of the unmanned aerial vehicle in the group, visVelocity vector v of ith unmanned aerial vehicleiFirst virtual velocity vector v with first virtual agentsModulo of the difference between the vectors, vis＝|vi-vs|；risIs the distance between the ith unmanned aerial vehicle and the first virtual agent, namely the distance between the unmanned aerial vehicle and the nearest point on the barrier to the unmanned aerial vehicle, ris＝|ri-rs|；robsIs a third distance threshold, i.e. the safe distance between the drone and the obstacle. The speed of the unmanned aerial vehicle far away from the obstacle is calculated through the formula
In the direction of (v)i-vs)/vis；CshillTo be an adjustable factor, ashill、pshillFor adjustable parameters, ashillHas the unit of m/s2、pshillHas a unit of 1/s, and D (r, a, p) is a smooth speed decay function, here as a braking curve of the drone to its desired stopping point, at a gain pshillThe braking curve is approximate to a constant acceleration curve under a larger condition; when the unmanned plane keeps away from the obstacle, CshillThe second speed can be adjusted linearly; a isshillThe maximum acceleration of the drone at the second velocity component.
Step S430, the unmanned aerial vehicle determines a third speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and the field boundary; the third speed is the speed of the unmanned aerial vehicle far away from the field boundary;
the calculation formula of the third speed of the unmanned aerial vehicle at the current moment is as follows:
wherein the content of the first and second substances,
for the third speed, v, of the ith drone at the current momentiThe current speed of the ith unmanned aerial vehicle; r iswallIs a fourth distance threshold, vwRepresenting a second virtual speed of a second virtual agent, the second virtual agent located at a location on the site boundary closest to the drone; wherein the second virtual speed vwWhen the unmanned aerial vehicle is too close to the site boundary, the speed generated by a second virtual agent on the site boundary is obtained; when the distance between the unmanned aerial vehicle and the field boundary is smaller than a fourth distance threshold, the unmanned aerial vehicle is far away from the field boundary, and the second virtual agent does not generate displacement under the action of the second virtual speed; second virtual velocity vwIs perpendicular to the site boundary line of the second virtual agent and points to the site, viwVelocity vector v of ith unmanned aerial vehicleiSecond virtual velocity vector v with second virtual agentwModulo of the difference between the vectors, viw＝|vi-vw|；riwIs the distance between the ith unmanned aerial vehicle and the second virtual agent, namely the shortest distance between the ith unmanned aerial vehicle and the field boundary, riw＝|ri-rwL, |; when the unmanned aerial vehicles in the unmanned aerial vehicle cluster are close to the boundary of the field, the unmanned aerial vehicles are limited to fly in the boundary of the field by adopting a third speed, the field can be set by an onboard GPS of the unmanned aerial vehicles, and the boundary of the field is the position limit limited by the GPS; c'shillIs an adjustable coefficient of'shill、p′shillIs an adjustable parameter, a'shillHas the unit of m/s2、p′shillIs 1/s, D ' (r, a, p) is a smoothed speed decay function, here at gain p ' as the braking curve of the drone to its desired stopping point 'shillThe braking curve is approximate to a constant acceleration curve under a larger condition; when the drone is away from the field boundary, C'shillThe third speed can be linearly adjusted; a'shillThe maximum acceleration of the drone at the third velocity component.
Step S440, the unmanned aerial vehicle determines a fourth speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and the target for enclosure and the radius of an expected enclosure of the unmanned aerial vehicle cluster; the fourth speed is the speed of the unmanned aerial vehicle for surrounding the target;
the calculation formula of the fourth speed of the unmanned aerial vehicle at the current moment is as follows:
wherein v isitargetThe fourth speed of the ith unmanned aerial vehicle at the current moment, namely the speed item of tracking and capturing the target by the ith unmanned aerial vehicle, vfInitial velocity value for unmanned aerial vehicle tracking of target of enclosure, CtTo adjust the linear gain of the drone towards the fourth velocity component, ritargetIs the distance between the ith unmanned aerial vehicle and the target of enclosure, RentrapDesired enclosure radius for the drone swarm, atarget、ptargetIn order to be able to adjust the parameters,
and pointing the target for enclosure from the ith unmanned aerial vehicle in the direction of the target for enclosure relative to the ith unmanned aerial vehicle.
Step S450, determining the control speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the first speed, the second speed, the third speed and the fourth speed of the unmanned aerial vehicle.
The calculation formula of the control speed of the unmanned aerial vehicle at the current moment is as follows:
wherein the content of the first and second substances,
representing the theoretical speed of the ith drone,
indicating the control speed, v, of the ith unmanned plane at the current momentlimitRepresenting the speed cutoff of the drone.
In this embodiment, a speed cutoff value is introduced, and under the condition that the direction of the speed is not changed, if the calculated theoretical speed is greater than the speed cutoff value v of the unmanned aerial vehicle flightlimitThe magnitude of the control speed is set as a speed cutoff value, and the direction is still consistent with the theoretical speed.
It should be noted that after the unmanned aerial vehicle acquires the information of the enclosure target, the enclosure target is enclosed. In the process of approaching the enclosure target, the closer the unmanned aerial vehicle is to the enclosure target, the smaller the speed is, and the speed of the unmanned aerial vehicle needs to have a smooth attenuation, so that the unmanned aerial vehicle better conforms to the natural group motion law. In this embodiment, through each velocity component of stack, obtain unmanned aerial vehicle at the control speed of present moment.
Referring to fig. 3 to 5, in a simulation experiment, a drone swarm is used to capture a target, and the drone swarm is walked in a field by using a levy flight algorithm.
Referring to fig. 3, in one scenario, the unmanned aerial vehicle can closely capture obstacles in a narrow traffic space, and the capture form thereof can be adaptively adjusted along with the environment.
Referring to fig. 4, in a nine-grid scene, the unmanned aerial vehicle can flexibly change the direction in an environment full of obstacles, so that the obstacles are avoided, and a good enclosure effect is realized.
Referring to fig. 5 in combination, it can be seen that:
1. the unmanned aerial vehicle self-adaptive grouping captures the targets, the unmanned aerial vehicles capturing each target cannot be too many or too few, when the two targets approach, the unmanned aerial vehicle group can make an autonomous decision according to the current information, and new groups are formed in order.
2. Unmanned aerial vehicle and target can realize not bumping into each other, and unmanned aerial vehicle also can not touch the barrier.
3. The surrounding and catching form of the unmanned aerial vehicle can be adjusted along with the environment in a self-adaptive mode.
4. The drone forms a tight and uniform enclosure to the target with the flight status of the nature-like population.
Compared with the prior art, the embodiment provided by the invention has the following advantages:
the unmanned aerial vehicle autonomous cluster capture is realized, a central control node does not exist, the unmanned aerial vehicle adaptively decides to capture a corresponding target when meeting a plurality of targets, an unmanned aerial vehicle group can cooperate to autonomously execute a capture task, a cluster capture effect can be achieved without manual control, and the unmanned aerial vehicle autonomous cluster capture is simple and convenient;
unmanned aerial vehicle dodges the barrier at the flight in-process is automatic, independently keeps away and collides between the unmanned aerial vehicle, has independently interact between the unmanned aerial vehicle individuality promptly, and the security is high.
Corresponding to the method of fig. 1, an embodiment of the present invention further provides a computer-readable storage medium, where a distributed enclosure control program of a cluster of drones is stored on the computer-readable storage medium, and when executed by a processor, the computer-readable storage medium implements the steps of the distributed enclosure control method of a cluster of drones according to any of the above embodiments.
Corresponding to the method in fig. 1, an embodiment of the present invention further provides a distributed enclosure control system for an unmanned aerial vehicle cluster, where the system includes:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is enabled to implement the distributed enclosure control method for a cluster of drones according to any of the above embodiments.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the distributed containment control system of the cluster of drones, the various parts of the distributed containment control system operable devices of the entire cluster of drones being connected by various interfaces and lines.
The memory may be configured to store the computer programs and/or modules, and the processor may implement various functions of the distributed containment control system of the drone cluster by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the description of the present application has been made in considerable detail and with particular reference to a few illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed that the present application effectively covers the intended scope of the application by reference to the appended claims, which are interpreted in view of the broad potential of the prior art. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial changes from the present application, not presently foreseen, may nonetheless represent equivalents thereto.
Claims (7)
1. A distributed enclosure control method for an unmanned aerial vehicle cluster is characterized by comprising the following steps:
s100, detecting targets by unmanned aerial vehicles in a group, and acquiring the distance between the unmanned aerial vehicle and each target and the number of unmanned aerial vehicles for capturing each target;
s200, determining the capture targets of the unmanned aerial vehicles by the unmanned aerial vehicles according to the distance between the unmanned aerial vehicles and each target and the number of the unmanned aerial vehicles capturing each target;
step S300, using a plurality of unmanned aerial vehicles for capturing the capture target of the unmanned aerial vehicle as an unmanned aerial vehicle cluster, and obtaining the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the cluster, the distance between the unmanned aerial vehicle and each target, the distance between the unmanned aerial vehicle and an obstacle, the distance between the unmanned aerial vehicle and a field boundary, the distance between the unmanned aerial vehicle and the capture target, and the expected radius of the capture target of the unmanned aerial vehicle cluster;
step S400, the unmanned aerial vehicle determines the control speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the group, the distance between the unmanned aerial vehicle and each target, the distance between the unmanned aerial vehicle and an obstacle, the distance between the unmanned aerial vehicle and a field boundary, the distance between the unmanned aerial vehicle and a target for enclosure and the expected enclosure radius of the unmanned aerial vehicle group;
and S500, the unmanned aerial vehicle flies according to the control speed to capture the capture target.
2. The distributed enclosure control method for the unmanned aerial vehicle cluster according to claim 1, wherein the step S200 comprises:
step S210, the unmanned aerial vehicle determines a first matrix according to the distance between the unmanned aerial vehicle and each target and the number of the unmanned aerial vehicles for capturing each target, wherein the first matrix is used for representing the capturing weight of each target;
and S220, carrying out maximum value indexing on the first matrix, indexing the maximum value of the capture weight, and taking a target corresponding to the sequence number of the maximum value as the capture target of the unmanned aerial vehicle.
3. The distributed enclosure control method for the unmanned aerial vehicle cluster as claimed in claim 2, wherein the calculation formula of the first matrix is as follows:
wherein seqkThe capture weight of the kth target, (a, b) is a weight matrix, ritarkIs the distance of the ith unmanned plane from the kth target, NitarkThe number of unmanned aerial vehicles for capturing the kth target; k is 1, 2,. n; n is the total number of targets.
4. The distributed enclosure control method for the unmanned aerial vehicle cluster according to claim 1, wherein the step S400 comprises:
step S410, determining a first speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the cluster and the distance between the unmanned aerial vehicle and each target;
step S420, the unmanned aerial vehicle determines a second speed of the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the obstacle;
step S430, the unmanned aerial vehicle determines a third speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and the field boundary;
step S440, the unmanned aerial vehicle determines a fourth speed of the unmanned aerial vehicle at the current moment according to the distance between the unmanned aerial vehicle and the target for enclosure and the radius of an expected enclosure of the unmanned aerial vehicle cluster;
step S450, determining the control speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the first speed, the second speed, the third speed and the fourth speed of the unmanned aerial vehicle.
5. The distributed enclosure control method for the unmanned aerial vehicle cluster according to claim 4, wherein the step S410 comprises:
s411, determining a first repelling speed of the unmanned aerial vehicle at the current moment by the unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the distance between the unmanned aerial vehicle and other unmanned aerial vehicles in the unmanned aerial vehicle cluster;
step S412, determining a second repulsion speed of the unmanned aerial vehicle in the unmanned aerial vehicle cluster at the current moment according to the distance between the unmanned aerial vehicle and each target;
and step S413, superposing the first repulsion speed and the second repulsion speed of the unmanned aerial vehicle to obtain the first speed of the unmanned aerial vehicle at the current moment.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the distributed hunting control method of a cluster of drones according to any one of claims 1 to 5.
7. A distributed enclosure control system of an unmanned aerial vehicle cluster, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method of distributed enclosure control of a cluster of drones as claimed in any one of claims 1 to 5.
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