CN114281109A - Multi-machine cooperation control system guided by unmanned aerial vehicle - Google Patents
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Abstract
The invention provides a multi-machine cooperative control system guided by an unmanned aerial vehicle, which realizes the combination of the unmanned aerial vehicle and an unmanned vehicle and has complementary advantages; the unmanned aerial vehicle is used as a navigator, so that the shielding of paired unmanned vehicle signals caused by buildings or other factors is reduced, and the environmental adaptability of the unmanned vehicle is improved; the two-dimensional map established by the unmanned aerial vehicle has a wider visual angle, is used as an unmanned vehicle control basis, and has higher reliability; different control coefficients between the unmanned aerial vehicle and the unmanned aerial vehicle are adjusted, and the relative distance, speed, positioning accuracy and the like between the unmanned aerial vehicle and the unmanned aerial vehicle can be changed; piloting unmanned aerial vehicle steerable many follow unmanned vehicles, can accomplish the task more efficiently.
Description
Technical Field
The invention relates to the technical field of unmanned control, in particular to a multi-machine cooperative control system guided by an unmanned aerial vehicle.
Background
With the development of the times and the progress of science and technology, unmanned aerial vehicles, unmanned vehicles and the like are more and more integrated into the work and life of people, and are widely applied to the fields of social security comprehensive treatment, emergency rescue, cargo distribution and the like.
However, the problems in unmanned equipment control systems such as unmanned planes or unmanned vehicles are very obvious, and although the unmanned planes are flexible and have wide visual fields, the unmanned planes also have the problems of poor load capacity and high transportation cost; the unmanned vehicle has certain advantages in terms of load capacity and transportation cost, but also has the problem of relatively strict requirements on environment.
Disclosure of Invention
The present invention aims to provide a drone-guided multi-machine cooperative control system that overcomes or at least partially addresses the above problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
one aspect of the present invention provides an unmanned aerial vehicle-guided multi-machine cooperative control system, including: the system comprises a ground control terminal, a piloting unmanned aerial vehicle and at least one following unmanned vehicle; the piloted unmanned aerial vehicle comprises: the system comprises an airborne computer, an airborne wireless communication module, an airborne binocular camera, an airborne laser radar and a flight control module; the following unmanned vehicle includes: the system comprises a vehicle-mounted computer, a vehicle-mounted wireless communication module, a vehicle-mounted binocular camera, a vehicle-mounted laser radar and a motion control module; the ground control terminal is used for sending a control command to the piloted unmanned aerial vehicle, receiving ground two-dimensional map information sent by the piloted unmanned aerial vehicle, calculating and marking a target point position, position information of the piloted unmanned aerial vehicle and position information of the following unmanned vehicle, planning a path, and sending a command to the piloted unmanned aerial vehicle, wherein the command comprises a control coefficient; the airborne computer in the piloted unmanned aerial vehicle is used for receiving the control instruction sent by the ground control terminal through the airborne wireless communication module, instructing the flight control module to carry out flight search on the target point position according to an initially determined navigation line, establishing ground two-dimensional map information through the airborne binocular camera and the airborne laser radar, positioning the target position, and sending the ground two-dimensional map information to the ground control terminal through the airborne wireless communication module; receiving the command instruction sent by the ground control terminal through the airborne wireless communication module, and sending a motion control instruction to the following unmanned vehicle through the recording wireless communication module according to the command instruction; the vehicle-mounted computer in each following unmanned vehicle is used for receiving the motion control instruction sent by the piloting unmanned vehicle through the vehicle-mounted wireless communication module, indicating the motion control module to control the following unmanned vehicle to autonomously avoid obstacles and advance to the target point, and establishing a three-dimensional sparse point cloud chart through the vehicle-mounted binocular camera and the vehicle-mounted laser radar.
The on-board computer in the piloting unmanned aerial vehicle is also used for acquiring GPS positioning information of the unmanned aerial vehicle, acquiring current position information of the unmanned aerial vehicle, matching the current position information of the unmanned aerial vehicle with navigation map information by utilizing an AMCL self-adaptive algorithm, and marking points corresponding to the current position of the unmanned aerial vehicle in the navigation map.
The vehicle-mounted computer in the following unmanned vehicle is also used for acquiring GPS positioning information of the following unmanned vehicle, acquiring current position information of the following unmanned vehicle, matching the current position information of the following unmanned vehicle with navigation map information, and marking a point corresponding to the current position of the following unmanned vehicle in the navigation map.
The ground control terminal carries out path planning in the following way: and the ground control terminal is specifically used for determining the optimal route from the current position point to the target point of the following unmanned vehicle by using Dijkstra algorithm according to the navigation map information.
The vehicle-mounted computer in the following unmanned vehicle plans the linear speed and the angular speed in each period of the following unmanned vehicle by using a DWA algorithm and a VFH algorithm so as to enable the linear speed and the angular speed to accord with the global optimal path, and simultaneously searches a plurality of paths for evasion and advancing and selects the optimal path.
The ground control terminal sends a command instruction to the piloted unmanned aerial vehicle in the following mode: the ground control terminal is specifically used for sending a motion control instruction to the follower unmanned vehicle through the airborne wireless communication module according to the difference between the distance between the pilot unmanned vehicle and the follower unmanned vehicle and the yaw angle, so that the position difference between the pilot unmanned vehicle and the follower unmanned vehicle gradually approaches a given value; when the speed of the pilot unmanned aerial vehicle is constant, if the distance between the follower unmanned aerial vehicle and the pilot unmanned aerial vehicle is far, the given linear speed is greater than the speed of the pilot unmanned aerial vehicle; when the speed of the pilot unmanned aerial vehicle is constant, if the distance between the follower unmanned aerial vehicle and the pilot unmanned aerial vehicle is relatively short, the given linear speed is smaller than the speed of the pilot unmanned aerial vehicle; when the distance reaches a certain value and the speed of the two is the same, the distance between the two is unchanged, and a stable formation is formed.
The vehicle-mounted computer in each follower unmanned vehicle is further used for calculating according to the following unmanned vehicle positioning data, vehicle-mounted laser radar data, the position information of the pilot unmanned vehicle and the motion control command of the pilot unmanned vehicle, and the motion control module controls the follower unmanned vehicle to move along with the pilot unmanned vehicle.
The vehicle-mounted computer in the follower unmanned vehicle is further used for judging whether the position of the target point is close to according to the positioning information of the follower unmanned vehicle, and if the position of the target point is within the positioning range, the follower unmanned vehicle stops advancing.
The ground control terminal is further configured to set a position of the ground control terminal as an origin of a global coordinate system, receive an interface instruction, and generate the control instruction and the command instruction.
And the piloting unmanned aerial vehicle establishes the ground two-dimensional map information through an SLAM algorithm.
And establishing the three-dimensional sparse point cloud chart by the following unmanned vehicle through an ORB-SLAM algorithm.
Therefore, the unmanned aerial vehicle guided multi-machine cooperative control system provided by the invention can greatly shorten the time for the unmanned aerial vehicle to reach the target position and improve the efficiency of completing tasks while ensuring large-range searching and accurate positioning of the target position.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced 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 based on the drawings without creative efforts.
Fig. 1 is a schematic diagram of a multi-machine cooperative control system guided by an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a piloting unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a following unmanned vehicle according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The core of the invention is that: the invention provides a multi-machine cooperative control system guided by an unmanned aerial vehicle, which realizes the combination of the unmanned aerial vehicle and an unmanned vehicle and has complementary advantages; the unmanned aerial vehicle is used as a navigator, so that the shielding of paired unmanned vehicle signals caused by buildings or other factors is reduced, and the environmental adaptability of the unmanned vehicle is improved; the two-dimensional map established by the unmanned aerial vehicle has a wider visual angle, is used as an unmanned vehicle control basis, and has higher reliability; different control coefficients between the unmanned aerial vehicle and the unmanned aerial vehicle are adjusted, and the relative distance, speed, positioning accuracy and the like between the unmanned aerial vehicle and the unmanned aerial vehicle can be changed; piloting unmanned aerial vehicle steerable many follow unmanned vehicles, can accomplish the task more efficiently.
With reference to fig. 1 to 3, a multi-machine cooperative control system guided by an unmanned aerial vehicle according to an embodiment of the present invention is described below, and with reference to fig. 1 to 3, the multi-machine cooperative control system guided by an unmanned aerial vehicle according to an embodiment of the present invention includes:
the system comprises a ground control terminal, a piloting unmanned aerial vehicle and at least one following unmanned vehicle;
piloting unmanned aerial vehicle includes: the system comprises an airborne computer, an airborne wireless communication module, an airborne binocular camera, an airborne laser radar and a flight control module;
follow unmanned car includes: the system comprises a vehicle-mounted computer, a vehicle-mounted wireless communication module, a vehicle-mounted binocular camera, a vehicle-mounted laser radar and a motion control module;
the ground control terminal is used for sending a control command to the piloted unmanned aerial vehicle, receiving ground two-dimensional map information sent by the piloted unmanned aerial vehicle, calculating and marking a target point position, position information of the piloted unmanned aerial vehicle and position information of a following unmanned vehicle, planning a path, and sending a command to the piloted unmanned aerial vehicle, wherein the command comprises a control coefficient;
the system comprises an airborne computer in a piloting unmanned aerial vehicle, a ground control terminal, an airborne wireless communication module, a flight control module, an airborne binocular camera and an airborne laser radar, wherein the airborne computer is used for receiving a control instruction sent by the ground control terminal through the airborne wireless communication module, instructing the flight control module to carry out flight search on the position of a target point according to an initial navigation line, establishing ground two-dimensional map information through the airborne binocular camera and the airborne laser radar, positioning the target position, and sending the ground two-dimensional map information to the ground control terminal through the airborne wireless communication module; receiving a command instruction sent by a ground control terminal through an airborne wireless communication module, and sending a motion control instruction to a following unmanned vehicle through a recording wireless communication module according to the command instruction;
and the vehicle-mounted computer in each following unmanned vehicle is used for receiving the motion control instruction sent by the piloting unmanned aerial vehicle through the vehicle-mounted wireless communication module, indicating the motion control module to control the following unmanned vehicle to autonomously avoid obstacles and advance to a target point, and establishing a three-dimensional sparse point cloud picture through the vehicle-mounted binocular camera and the vehicle-mounted laser radar.
Specifically, the unmanned aerial vehicle guided multi-machine cooperative control system provided by the embodiment of the invention comprises a ground control end, a piloting unmanned aerial vehicle and a plurality of ground following unmanned vehicles. The piloting unmanned aerial vehicle can search for flight along an initial routing line and establish ground two-dimensional map information by virtue of the advantages of flexibility and wide visual field, and can find and accurately position a target position; the ground control end receives two-dimensional map information acquired by the piloting unmanned aerial vehicle, remotely controls the piloting unmanned aerial vehicle and the following unmanned vehicles, simultaneously calculates and marks the position of a target point and the spatial position information of the piloting unmanned aerial vehicle and all the following unmanned vehicles, and sends a command to the piloting unmanned aerial vehicle after path planning, wherein the piloting unmanned aerial vehicle serves as a pilot and commands the following unmanned vehicles to move to the target position; after warp formation and path planning, the following unmanned vehicles drive to the target position point by the optimal path with the assistance of the piloting unmanned aerial vehicle, and can realize autonomous obstacle avoidance and establish a three-dimensional sparse point cloud picture by following the unmanned vehicles in the driving process.
Of course, after the following unmanned vehicle reaches the target point position to complete the task, the piloting unmanned vehicle and the following unmanned vehicle return or go to other target point positions according to the new instruction original path.
As an optional implementation manner of the embodiment of the present invention, the ground control terminal is further configured to set a location of the ground control terminal as an origin of a global coordinate system, and receive an interface instruction to generate a control instruction and a command instruction. As an optional implementation manner of the embodiment of the invention, the piloting unmanned aerial vehicle establishes ground two-dimensional map information through a SLAM algorithm. As an optional implementation manner of the embodiment of the invention, the three-dimensional sparse point cloud chart is established by following the unmanned vehicle through an ORB-SLAM algorithm.
As an optional implementation manner of the embodiment of the present invention, the on-board computer in each follower unmanned vehicle is further configured to perform calculation according to the following unmanned vehicle positioning data, the on-board lidar data, the position information of the navigator unmanned vehicle, and the motion control command of the navigator unmanned vehicle, and control the follower unmanned vehicle to move along with the navigator unmanned vehicle through the motion control module.
As an optional implementation manner of the embodiment of the present invention, the vehicle-mounted computer in the following unmanned vehicle is further configured to determine whether the following unmanned vehicle is close to the target point position according to the following unmanned vehicle positioning information, and if the following unmanned vehicle reaches the positioning range, the following unmanned vehicle stops moving forward.
Wherein:
a ground control terminal: the position of the ground control terminal is set as an original point of a global coordinate system, a piloting unmanned aerial vehicle and a plurality of following unmanned vehicles are arranged beside the ground control terminal, an operator starts a system through a UI (user interface) of the ground control terminal, and controls the piloting unmanned aerial vehicle and the following unmanned vehicles through interface instructions. The piloting unmanned aerial vehicle transmits GPS positioning information of the piloting unmanned aerial vehicle, barometer information in a current flight control module and distance information between the unmanned aerial vehicle and a target point measured by using a binocular camera stereoscopic vision algorithm back to the flight control module, two-dimensional coordinates and height information of the target point under a global coordinate system are calculated through coordinate calculation, and the piloting unmanned aerial vehicle transmits space position information of the target point and obtained two-dimensional map information to the ground control terminal through the wireless communication module.
Piloting the unmanned aerial vehicle: searching for flight and establishing ground two-dimensional map information along a primary route, and accurately positioning a target point position, an operator sets the flight height and the flight speed of a piloting unmanned aerial vehicle through a ground control terminal, a take-off and task execution instruction is sent, the piloting unmanned aerial vehicle receives the instruction through a wireless communication module, the flight control module controls the piloting unmanned aerial vehicle to take off according to the instruction, and searches for the flight of the target position according to the primary route, the ground environment condition is acquired in real time through an airborne laser radar arranged on the piloting unmanned aerial vehicle, the ground two-dimensional map information is established by adopting an SLAM algorithm, and the ground remote control end is transmitted in a wireless mode.
Following the unmanned vehicle: all following unmanned vehicles drive to a target point after path planning and formation, all unmanned vehicles advance by adopting a pilot-follower formation algorithm, a ground control terminal carries out navigation algorithm positioning and path planning on map information acquired by a pilot unmanned aerial vehicle, information such as a target point coordinate position and the like, a calculation result is sent to the pilot unmanned aerial vehicle and the following unmanned vehicles in a wireless communication mode, and the following unmanned vehicles follow the pilot unmanned aerial vehicle to advance to the target point through the formation algorithm. In the advancing process of all the following unmanned vehicles, the conditions of the surrounding environment are obtained through respective laser radars, the vehicle-mounted computers on all the following unmanned vehicles call a navigation algorithm, the corresponding unmanned vehicles are controlled by the motion control module to automatically avoid obstacles on the path in real time, and meanwhile the vehicle-mounted computers on all the following unmanned vehicles call an ORB-SLAM algorithm according to the corresponding binocular camera data to establish a three-dimensional sparse point cloud picture. When all the following unmanned vehicles move forward, the respective vehicle-mounted computers on the following unmanned vehicles need to judge whether the following unmanned vehicles are close to the target position according to the GPS positioning data, if the following unmanned vehicles reach the positioning range, the following unmanned vehicles stop moving forward. After the task is completed, if no new task instruction exists, the following unmanned vehicle returns to the area where the ground control terminal is located according to the original path under the guidance of the piloting unmanned vehicle, and the task is finished.
Therefore, the unmanned aerial vehicle guided multi-machine cooperation system provided by the embodiment of the invention can greatly shorten the time for the unmanned aerial vehicle to reach the target position and improve the efficiency of completing tasks while ensuring large-range searching and accurate positioning of the target position.
As an optional implementation manner of the embodiment of the present invention, the onboard computer in the piloting unmanned aerial vehicle is further configured to obtain GPS positioning information of the unmanned aerial vehicle, obtain current position information of the unmanned aerial vehicle, match the current position information of the unmanned aerial vehicle with navigation map information by using an AMCL adaptive algorithm, and mark a point corresponding to the current position of the unmanned aerial vehicle in the navigation map.
As an optional implementation manner of the embodiment of the present invention, the vehicle-mounted computer in the following unmanned vehicle is further configured to acquire GPS positioning information of the following unmanned vehicle, acquire vehicle position information of the current following unmanned vehicle, match the current following unmanned vehicle position information with navigation map information, and mark a point corresponding to the current following unmanned vehicle position in the navigation map.
As an optional implementation manner of the embodiment of the present invention, the ground control terminal sends a command instruction to the piloted unmanned aerial vehicle in the following manner: the ground control terminal is specifically used for sending a motion control instruction to the follower unmanned vehicle through the airborne wireless communication module according to the difference between the distance between the piloter unmanned vehicle and the follower unmanned vehicle and the yaw angle, so that the position difference between the piloter unmanned vehicle and the follower unmanned vehicle gradually approaches to a given value; when the speed of the piloter unmanned aerial vehicle is fixed, if the distance between the follower unmanned aerial vehicle and the piloting unmanned aerial vehicle is far, the given linear speed is greater than the speed of the piloter unmanned aerial vehicle; when the speed of the piloter unmanned aerial vehicle is fixed, if the distance between the follower unmanned aerial vehicle and the piloting unmanned aerial vehicle is closer, the given linear speed is smaller than the speed of the piloter unmanned aerial vehicle; when the distance reaches a certain value and the speed of the two is the same, the distance between the two is unchanged, and a stable formation is formed.
Specifically, in the present invention, the pilot-follower formation algorithm adopts a column formation, which specifically includes:
1) data acquisition: after all the following unmanned vehicles acquire data through respective GPS modules and laser radars, the vehicle-mounted computers of the following unmanned vehicles acquire positioning data and laser radar data;
2) the piloting unmanned aerial vehicle carries out data communication with the following unmanned vehicle: the on-board computer on the navigator unmanned aerial vehicle combines navigation information to make the motion control command, sends the motion control command to follower unmanned vehicle, and the on-board computer on the follower unmanned vehicle carries out analysis and operation back with self location data, self laser radar data, navigator unmanned aerial vehicle's positional information and navigator unmanned aerial vehicle's motion control command, follows the navigator unmanned aerial vehicle through motion control module control and moves.
3) And (3) a control algorithm: the ground control terminal gives a control command of the follower unmanned vehicle through the communication module after calculation according to a difference value between a distance between the pilot unmanned vehicle and the follower unmanned vehicle and a yaw angle, so that the difference between the positions of the pilot unmanned vehicle and the follower unmanned vehicle gradually approaches to a given value, the angular speed of the follower unmanned vehicle is determined by an arctangent value of the relative positions of the two, and the linear speed is determined by a linear distance of the relative positions of the two; when the speed of the piloter unmanned aerial vehicle is fixed, if the distance between the follower unmanned aerial vehicle and the follower unmanned aerial vehicle is far, the given linear speed is greater than the speed of the piloter unmanned aerial vehicle; on the contrary, the distance is smaller than the speed of the unmanned aerial vehicle of the pilot when the distance is relatively close; when the distance reaches a certain value and the speed of the distance are the same, the distance between the distance and the speed is unchanged, and stable formation is formed; the coefficient can be adjusted, namely the formation speed of the unmanned vehicles and the relative position in the formation can be adjusted, and the larger the coefficient in the linear speed control is, the longer the distance between the unmanned vehicles and the formation is;
as an optional implementation manner of the embodiment of the present invention, the ground control terminal performs path planning by the following method: and the ground control terminal is specifically used for determining an optimal route from the current position point to the target point along with the unmanned vehicle by using a Dijkstra algorithm according to the navigation map information.
As an optional implementation manner of the embodiment of the invention, the DWA algorithm and the VFH algorithm are used by the vehicle-mounted computer in the following unmanned vehicle, the linear velocity and the angular velocity in each period of the following unmanned vehicle are planned to be in accordance with the global optimal path, and meanwhile, a plurality of paths for avoiding and advancing are searched and the optimal path is selected.
Specifically, the navigation algorithm executed by the ground control terminal, the piloting unmanned aerial vehicle and the following unmanned aerial vehicle specifically comprises the following steps:
1) positioning: the piloting unmanned aerial vehicle acquires GPS module information, the onboard computer acquires current position information according to the data information, the current position information is matched with navigation map information provided by the unmanned aerial vehicle by utilizing an AMCL self-adaptive algorithm, and points corresponding to the current position are marked in a navigation map;
2) and (3) global path planning: the ground control terminal carries out global path planning on the position of the current following unmanned vehicle and a target point by the remote control terminal according to navigation map information, an optimal route from the current position point to the target point of the following unmanned vehicle is found out by using Dijkstra algorithm, and meanwhile, the following unmanned vehicle follows the unmanned aerial vehicle of the pilot to move according to the pilot-follower formation algorithm;
3) local real-time planning: the vehicle-mounted computer of each following unmanned vehicle uses DWA algorithm and VFH algorithm to plan linear velocity and angular velocity of the unmanned vehicle in each period so as to enable the linear velocity and the angular velocity to accord with the global optimal path, and simultaneously searches a plurality of paths for evading and advancing and selects the optimal path.
According to the invention, the unmanned aerial vehicle and the unmanned vehicle are combined, so that the advantages are complementary, and the efficiency of completing tasks is improved; the unmanned aerial vehicle is used as a navigator, so that the shielding of paired unmanned vehicle signals caused by buildings or other factors is reduced, and the environmental adaptability of the unmanned vehicle is improved; the two-dimensional map established by the unmanned aerial vehicle has a wider visual angle, is used as an unmanned vehicle control basis, and has higher reliability; different control coefficients between the unmanned aerial vehicle and the unmanned aerial vehicle are adjusted, and the relative distance, speed, positioning accuracy and the like between the unmanned aerial vehicle and the unmanned aerial vehicle can be changed; piloting unmanned aerial vehicle steerable many follow unmanned vehicles, can accomplish the task more efficiently.
Therefore, compared with the prior art, the unmanned aerial vehicle guided multi-machine cooperative control system provided by the invention realizes the advantage complementation of the unmanned aerial vehicle and the unmanned vehicle, ensures large-range searching and accurate positioning of the target point position, can greatly shorten the time required by the unmanned vehicle to reach the target point, and improves the efficiency of completing tasks.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (11)
1. An unmanned aerial vehicle-guided multi-machine cooperative control system, comprising: the system comprises a ground control terminal, a piloting unmanned aerial vehicle and at least one following unmanned vehicle;
the piloted unmanned aerial vehicle comprises: the system comprises an airborne computer, an airborne wireless communication module, an airborne binocular camera, an airborne laser radar and a flight control module;
the following unmanned vehicle includes: the system comprises a vehicle-mounted computer, a vehicle-mounted wireless communication module, a vehicle-mounted binocular camera, a vehicle-mounted laser radar and a motion control module;
the ground control terminal is used for sending a control command to the piloted unmanned aerial vehicle, receiving ground two-dimensional map information sent by the piloted unmanned aerial vehicle, calculating and marking a target point position, position information of the piloted unmanned aerial vehicle and position information of the following unmanned vehicle, planning a path, and sending a command to the piloted unmanned aerial vehicle, wherein the command comprises a control coefficient;
the airborne computer in the piloted unmanned aerial vehicle is used for receiving the control instruction sent by the ground control terminal through the airborne wireless communication module, instructing the flight control module to carry out flight search on the target point position according to an initially determined navigation line, establishing ground two-dimensional map information through the airborne binocular camera and the airborne laser radar, positioning the target position, and sending the ground two-dimensional map information to the ground control terminal through the airborne wireless communication module; receiving the command instruction sent by the ground control terminal through the airborne wireless communication module, and sending a motion control instruction to the following unmanned vehicle through the recording wireless communication module according to the command instruction;
the vehicle-mounted computer in each following unmanned vehicle is used for receiving the motion control instruction sent by the piloting unmanned vehicle through the vehicle-mounted wireless communication module, indicating the motion control module to control the following unmanned vehicle to autonomously avoid obstacles and advance to the target point, and establishing a three-dimensional sparse point cloud chart through the vehicle-mounted binocular camera and the vehicle-mounted laser radar.
2. The system of claim 1, wherein the on-board computer in the piloting drone is further configured to obtain drone GPS location information, obtain current drone location information, match the current drone location information with navigation map information using AMCL adaptive algorithms, and mark a point in the navigation map corresponding to the current drone location.
3. The system of claim 2, wherein the on-board computer in the following unmanned vehicle is further configured to obtain GPS location information of the following unmanned vehicle, obtain current following unmanned vehicle position information, match the current following unmanned vehicle position information with navigation map information, and mark a point in the navigation map corresponding to the current following unmanned vehicle position.
4. The system of claim 3, wherein the ground control terminal performs path planning by:
and the ground control terminal is specifically used for determining the optimal route from the current position point to the target point of the following unmanned vehicle by using Dijkstra algorithm according to the navigation map information.
5. The system of claim 4, wherein the onboard computer in the following unmanned vehicle uses a DWA algorithm and a VFH algorithm to plan linear and angular velocities of the following unmanned vehicle within each cycle to conform to a globally optimal path, and to search for multiple paths to evade and travel simultaneously and select an optimal path.
6. The system of claim 5, wherein the ground control terminal sends command instructions to the pilot drone by:
the ground control terminal is specifically used for sending a motion control instruction to the follower unmanned vehicle through the airborne wireless communication module according to the difference between the distance between the pilot unmanned vehicle and the follower unmanned vehicle and the yaw angle, so that the position difference between the pilot unmanned vehicle and the follower unmanned vehicle gradually approaches a given value; when the speed of the pilot unmanned aerial vehicle is constant, if the distance between the follower unmanned aerial vehicle and the pilot unmanned aerial vehicle is far, the given linear speed is greater than the speed of the pilot unmanned aerial vehicle; when the speed of the pilot unmanned aerial vehicle is constant, if the distance between the follower unmanned aerial vehicle and the pilot unmanned aerial vehicle is relatively short, the given linear speed is smaller than the speed of the pilot unmanned aerial vehicle; when the distance reaches a certain value and the speed of the two is the same, the distance between the two is unchanged, and a stable formation is formed.
7. The system of claim 1, wherein the on-board computer in each of the follower drones is further configured to calculate from the follower drone positioning data, on-board lidar data, position information of the pilot drone, and motion control commands of the pilot drone, and to control the follower drone to move with the pilot drone via the motion control module.
8. The system of claim 7, wherein the onboard computer of the follower unmanned vehicle is further configured to determine whether the target point is near based on the following unmanned vehicle positioning information, and the following unmanned vehicle stops advancing if the target point is within the positioning range.
9. The system of claim 1,
the ground control terminal is further configured to set a position of the ground control terminal as an origin of a global coordinate system, and receive an interface instruction to generate the control instruction and the command instruction.
10. The system of claim 1, wherein the piloted drone builds the ground two-dimensional map information through a SLAM algorithm.
11. The system of claim 1, wherein the following unmanned vehicle builds the three-dimensional sparse point cloud map via an ORB-SLAM algorithm.
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| CN114879557A (en) * | 2022-05-07 | 2022-08-09 | 中国人民解放军东部战区总医院 | Control method, system, equipment and storage medium for unmanned equipment cluster |
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