WO2022250236A1 - Système de vols à vide multiples et procédé de commande pour système - Google Patents

Système de vols à vide multiples et procédé de commande pour système Download PDF

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WO2022250236A1
WO2022250236A1 PCT/KR2021/019787 KR2021019787W WO2022250236A1 WO 2022250236 A1 WO2022250236 A1 WO 2022250236A1 KR 2021019787 W KR2021019787 W KR 2021019787W WO 2022250236 A1 WO2022250236 A1 WO 2022250236A1
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node
anchor
tag
cost
location
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PCT/KR2021/019787
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English (en)
Korean (ko)
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박남진
안효성
김기현
마정민
이형곤
이재경
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광주과학기술원
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Publication of WO2022250236A1 publication Critical patent/WO2022250236A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations

Definitions

  • the present invention relates to a multi-unmanned flight system and a control method of the system.
  • Multiple unmanned aerial vehicles can operate multiple unmanned aerial vehicles for a specific purpose. Representative examples include operations such as simultaneous tracking of multiple targets on global coordinates or group flight of multiple unmanned aerial vehicles around a reference point.
  • the multiple unmanned aerial vehicles may be operated with a distance-based positioning system.
  • the distance-based positioning system may include an anchor node that is a reference point for positioning and a tag node that is a target for positioning.
  • the anchor node can measure its own absolute position, and the tag node can find out its position through various positioning methods (eg, trilateration) using distance information with neighboring anchor nodes.
  • the multi-unmanned aerial vehicle control system using the distance-based positioning system has an advantage in that tag nodes can freely perform missions.
  • registration number 10-1897238 filed by the present applicant includes an RF-based positioning and trajectory control device for multiple unmanned aerial vehicles and a system thereof.
  • the prior art does not consider a method of controlling the position of the anchor node.
  • the tag node does not smoothly perform its duties in an environment where accuracy and continuity of the distance sensor of each node cannot be guaranteed. For example, when there is an obstacle between the anchor node and the tag node, the location of the tag node cannot be determined. In this case, the continuity of the tag node's task performance may be damaged. For example, if the mission is to track a target, the tag node cannot accurately track the tracker. If the mission is platooning, a problem may occur in which tag nodes collide with each other or swarming is broken.
  • the present invention is proposed to solve the above problems, and proposes a multiple unmanned flight system and a control method thereof that improve the positioning accuracy of each node in the operation of multiple unmanned aerial vehicles operated as a distance-based positioning system.
  • the present invention proposes a multiple unmanned flight system and its control method enabling active position control of anchor nodes.
  • the present invention proposes a multi-unmanned flight system and a control method thereof in which mission continuity is not interrupted in a tag node.
  • the multi-unmanned flight system includes a tag node performing a mission; a plurality of anchor nodes capable of detecting a distance between the tag node and itself; and a wireless communication network wirelessly connecting the tag node and the plurality of anchor nodes.
  • the node may be an air vehicle.
  • the node may be an air vehicle capable of moving in three dimensions.
  • At least three of the plurality of anchor nodes may be configured to detect the position of the tag node.
  • the plurality of anchor nodes may be configured to move their positions in order to detect a distance to the tag node.
  • the location of the anchor node may be controlled to move to a location where the cost is lowered.
  • the cost may increase as distances between the plurality of anchor nodes are closer.
  • the cost may increase as the distance between the tag node and the anchor node deviates from a predetermined range.
  • the cost may increase when the anchor node enters a GPS shadow area.
  • the cost may increase when the anchor node enters an area around an obstacle.
  • the cost may increase if an obstacle is placed between the anchor node and the tag node.
  • At least one of the three anchor nodes detecting the location of the tag node may be a leader node.
  • the leader node may be configured so that an anchor node other than the leader node controls its position by calculating and transmitting the costs of the plurality of anchor nodes.
  • a method for controlling a multi-radio flight system includes configuring a positioning network and performing a task by a tag node in a state in which the location of the tag node is determined; Determining whether reconfiguration of the location network is necessary may be performed.
  • the tag node may perform a task in the reconfigured location network by reconfiguring the location network.
  • the tag node can perform tasks in the current location network.
  • the reconfiguration of the positioning network may include a combination of at least one of changing a node, adding a node, removing a node, and moving a node.
  • the determining step at least one of the progress of the tag node in performing the mission and whether or not the tag node can perform the mission may be determined. Based on the determination result of the determination step, anchor node/tag node conversion, additional tag node input, or tag node removal may be performed.
  • the determination step it may be determined that it is difficult to secure an area capable of positioning necessary for the tag node to perform its mission. Based on the determination result of the determination step, an anchor node may be added or removed.
  • the determination step it is possible to obtain a final cost for the location where the anchor node is located. If the final cost is large, the anchor node may be moved.
  • the anchor node may not be moved.
  • the task of the tag node may be stopped and the anchor node may be moved.
  • the step of determining whether reconfiguration of the positioning network is necessary may be performed.
  • the anchor node may be moved.
  • the final cost may be the sum of sub-costs of the anchor node for each future discrete predicted position of the tag node.
  • the sub-cost may be the sum of at least one detailed cost associated with the location of the anchor node.
  • the detailed cost increases as the distance between the plurality of anchor nodes is closer, increases as the distance between the tag node and the anchor node deviates from a predetermined range, or increases when the anchor node enters a GPS shaded area. It may increase when the anchor node enters an area around an obstacle or when an obstacle is placed between the anchor node and the tag node.
  • the present invention by actively controlling the position of the anchor node, it is possible to operate a multi-unmanned aerial vehicle system even in an obstacle environment.
  • the reliability of the tag node's mission performance can be increased.
  • FIG. 1 is a configuration diagram of a multi-unmanned flight system according to an embodiment.
  • FIG. 2 is an example of a control method of a multi-unmanned flight system according to an embodiment.
  • Figure 3 shows the initial establishment of the location network
  • 5 is a mission performance scenario in the case of an obstacle.
  • FIG. 6 is a view showing a scenario in which an anchor node is added for efficient positioning and mission performance.
  • FIG. 7 is a view showing an example in which an aircraft capable of performing an anchor node is changed from an anchor node to a tag node.
  • FIG. 8 is a diagram for explaining a detailed cost function according to anchor-anchor distance information
  • FIG. 9 is a diagram illustrating a detailed cost function according to tag-anchor distance information
  • FIG. 10 is a diagram for explaining a detailed cost function according to GPS shadow area information
  • 11 is a diagram for explaining a detailed cost function according to obstacle information
  • FIG. 12 is a diagram for explaining a detailed cost function according to line-of-sight information of a tag node
  • FIG. 13 is an exemplary diagram of a cost map
  • FIG. 1 is a configuration diagram of a multi-unmanned flight system according to an embodiment.
  • a tag node 1 in the multi-unmanned flight system of the embodiment, a tag node 1, anchor nodes 2a, 2b, 2c, and 2d, and a wireless communication network wirelessly connecting the tag node and the anchor node. (3) may be included.
  • the anchor node may detect location information of the tag node by measuring distance information between itself and the tag node. To this end, in the multiple unmanned flight system, at least three anchor nodes may be assigned to one tag node. By knowing the distance information for three anchor nodes from any one tag node, the location of the anchor node can be known using triangulation.
  • the node (1) (2) includes a communication unit (11) (21) capable of communicating between nodes using a wireless communication network (3), and a sensing unit (14) (24) for detecting and acquiring external information. ), a data processing unit 15, 25 that processes the detection signal of the sensing unit 14, 24 into information available at each node, and a second position sensor 12, 22 that detects the movement trajectory of the node , a navigation unit 13, 23 that determines a flight method based on the information of the second position sensor 12, 22 may be included.
  • the nodes (1) and (2) may further include a control processor required for a specific operation of each node.
  • the tag node 1 may include a task performing unit 16 that performs its own task.
  • the mission performing unit 16 may perform the tag node mission by referring to the flight method transmitted from the navigation unit 13 and the information transmitted from the data processing unit 15 .
  • the task performance of the task performing unit 16 may include rotation of a camera and control of a posture of a tag node.
  • the anchor node 2 may include a location controller 26 that controls the location of the anchor node.
  • the location control unit 26 refers to the flight method transmitted from the navigation unit 23, the information transmitted from the data processing unit 25, and the location information of other anchor nodes and tag nodes transmitted from the communication unit 21, You can control the location of nodes.
  • the location control unit 26 may include moving the anchor node to be suitable for performing the role of the anchor node with respect to the tag node. In other words, the position control unit 26 may control the position of the anchor for the operation of the distance-based multi-unmanned flight system.
  • the sensing units 14 and 24 may obtain distance information.
  • distance and terrain detection modules such as infrared sensors, ultrasonic sensors, lidar, UWB, and RF sensors may be provided in the detection units 14 and 24.
  • the sensing unit may acquire image information.
  • the sensing unit may include a camera.
  • the sensing unit may obtain orientation information.
  • the sensor may include a compass.
  • the sensing unit may obtain atmospheric pressure information.
  • the sensing unit may include a barometer.
  • various sensing devices necessary for the operation of each node may be included.
  • the second position sensor 12, 22 may be provided as an inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the data processing units 15 and 25 may acquire external information using the information of the sensing units 14 and 24 .
  • Distance information between the anchor node 2 and the tag node 1 may be further input to the data processor 25 of the anchor node 2 .
  • the distance information can be detected by the distance detection unit 27 measuring the signal strength of the RF signal transmitted from the detection unit 14 of the tag node 1 .
  • other distance sensing modules may be used.
  • the navigation unit 13, 23 may determine the flight method of each node. Distance information between itself and the anchor node may be further input to the navigation unit 13 of the tag node. The distance information can be detected by the distance detection unit 17 measuring the signal strength of the RF signal transmitted from the detection unit 24 of the tag node 2 . Of course, as already described, other distance sensing modules may be used.
  • the anchor node 2 may further include a first position sensor 28 .
  • the first position sensor may be exemplified by a global positioning system (GPS).
  • GPS global positioning system
  • the anchor node can know where it is located absolutely by using the first position sensor.
  • a driving unit is provided so that the position of each node can be moved.
  • the driving unit may be controlled by the navigation unit.
  • various configurations necessary for driving the unmanned aerial vehicle may be further included.
  • FIG. 1 the configuration of any one anchor node 2a is shown in detail. However, the same configuration may be included for other anchor nodes (2b, 2c, 2d, etc.).
  • the leader node may calculate the cost for an anchor node not selected as a leader node.
  • an anchor node that is not selected as a leader node can control its location and perform tasks based on the cost provided by the leader node.
  • At least three of the plurality of anchor nodes may sense the location of the tag node.
  • one or more leader nodes may exist.
  • the leader node may calculate the cost for an anchor node not selected as a leader node.
  • an anchor node not selected as a leader node may be configured to control its location based on the cost provided by the leader node.
  • each anchor node may be advantageous when the available computing power of each anchor node is insufficient compared to the required power.
  • a small number of anchor nodes may be specified as leader nodes and used only for resource of the leader node, data storage, network management, and control of the anchor nodes. Accordingly, the calculation load and communication load of the entire network can be reduced.
  • the location control unit can know the location information of the anchor node and the tag node using information from the navigation unit 23, information transmitted from the communication unit 21, and information processed by the data processing unit 25. . It goes without saying that location information of other anchor nodes can be known using information transmitted and received by the communication unit 21 . For example, the location information of a tag node is obtained by using triangulation with three anchor nodes for a certain tag node, and the location of each anchor node is determined using the first location sensor 28 recorded in each anchor node. information, that is, positioning information.
  • the location control unit may calculate a cost by driving a cost function using information from the navigation unit 23, information transmitted from the communication unit 21, and information processed from the data processing unit 25.
  • the cost may refer to the cost of the current location of the current anchor node.
  • the cost may be calculated by referring to various pieces of information.
  • the anchor node can move at the lowest cost position and speed.
  • the cost may include opportunity cost and risk cost.
  • the cost may mean a cost for the anchor node to detect the distance between itself and the tag node. According to this, the anchor node can actively control the location for the operation of the multi-unmanned flight system.
  • the cost function will be described in more detail later.
  • the data processor 25 may process the distance information sensed by the distance detector 27 and a plurality of pieces of information sensed by the detector 24 into digital information usable by the device.
  • the navigation unit 23 can absolutely know its position using the first and second position sensors 28 and 22. Its own location may be transmitted to the location control unit 26 .
  • FIG. 2 is an example of a control method of a multi-unmanned flight system according to an embodiment.
  • a positioning network may be configured (S1), and the location of a node may be initialized (S2). At this time, the tag node may be initialized. After that, after determining the number of required tag nodes in consideration of node performance, location, and amount of tasks, tasks are appropriately allocated to each node (S3), and then tasks can be performed according to the allocated tasks. (S4).
  • Each node may include the anchor node and the tag node.
  • the anchor node can measure its own absolute location, and the tag node can find out its own location through a positioning method using distance information with neighboring anchor nodes.
  • Building the positioning network (S1) may collect a plurality of sensor information (S11).
  • the tag node may make a request to an anchor node within a positioning range, obtain a position of the anchor node and a distance between the tag and the anchor, and perform positioning.
  • the positioning network may be configured by evaluating the calculation result of the cost function (S13).
  • the cost function may be obtained using all or part of the cost function described later.
  • the positioning network may be constructed using only three anchor nodes closest to a certain tag node using only distance information between nodes.
  • the locations of all tag nodes may be initialized (S2).
  • reconfiguration of the positioning network may include a change of a node, addition of a node, removal of a node, and movement of a node.
  • the task can be performed using the reconfigured positioning network (S22).
  • the task execution (S22) and the determination of positioning network reconfiguration (S20) may be repeated until the task is completed (S23).
  • a positioning network may be reconstructed using a cost function by integrating various factors.
  • reconfiguration of the positioning network may include a change of a node, addition of a node, removal of a node, and movement of a node.
  • FIG. 4 is a flow diagram of reconfiguring a location network.
  • the anchor node may provide a task list assigned to the tag node on the network.
  • the anchor node may receive from the tag node information on various sensors such as a sensing unit necessary for calculating a cost function, positioning status, mission execution path, and mission progress.
  • At least one of the task performance progress of at least one tag node and whether or not the task can be performed may be determined (S201). Based on the determination result, if necessary, anchor node/tag node conversion, additional tag node input, or tag node removal may be performed (S202). For example, when a tag node loses its flight or mission function, or when it is determined that the progress is slower than the target value, it can be supplemented by adding a new tag node or converting between anchors and tags.
  • an anchor node may be added or removed (S204).
  • 5 is a mission performance scenario in the case of an obstacle.
  • an anchor node may be additionally disposed.
  • FIG. 5 illustrates moving an anchor node to secure a positioning possible area using a cost function.
  • Figure 5 (a) shows that the movement is progressing
  • Figure 5 (b) shows that the movement is completed.
  • not only anchor nodes hidden by obstacles but all anchor nodes can move according to the result of each cost function.
  • the positions of the anchor nodes may be controlled by a cost function.
  • a positioning network may be operated based on the mission performance area of each tag node, the progress of mission performance, and the positioning possible area.
  • the positioning network may determine anchor node-tag node conversion, insertion of an additional anchor node, or insertion of a tag node, if necessary for efficient positioning and performance of duties.
  • Spare nodes can hover and stand by the vicinity of the aircraft formation, or stand by at the landing site near the mission.
  • the preliminary nodes may utilize a predicted route based on an initial mission execution route.
  • anchor nodes to be added are joined in advance based on topographical information and positioning possibility, thereby securing continuity of positioning.
  • Added tag nodes can join in advance according to the progress and possibility of mission performance to ensure the efficiency of mission performance.
  • FIG. 6 is a diagram showing various scenarios in which anchor nodes are added for efficient positioning and mission execution.
  • a tag node may have to deviate from an area capable of positioning on an existing network to perform a mission.
  • the anchor nodes may move according to the calculation of the cost function in order to provide a positioning network capable of positioning the tag node, that is, a positioning possible area.
  • three or more anchor nodes may be provided.
  • the positioning possible area may not be secured due to the movement or rearrangement of the existing anchor node.
  • an additional anchor node may be added to provide a positioning possible area for all tag nodes on the network.
  • the first additional anchor node 32 may further participate in the network.
  • the second additional anchor node 33 may further participate in the network. This is because at least three anchor nodes may be required to locate the absolute location of the tag node.
  • a flight vehicle capable of serving as an anchor node can serve as both an anchor node and a tag node. Therefore, the vehicle can perform the role of a tag node during missions as needed.
  • FIG. 7 is a diagram showing an example in which an aircraft capable of performing an anchor node is changed from an anchor node to a tag node.
  • the flight vehicle performing the anchor node may move and change to the conversion tag node 34 .
  • the conversion tag node 34 can be used by putting some of the anchor nodes into the role of a tag node in a situation where at least a positionable area can be secured.
  • the anchor node joins the formation in advance to perform positioning. Continuity can be guaranteed. A small number of reserve anchor nodes can follow around the formation in case any anchor node cannot perform flight and positioning missions due to unpredictable causes. In this case, the continuity of mission performance can be guaranteed by reducing the time taken for preliminary anchor nodes to join.
  • the tag node may perform tasks, and the anchor node may perform positioning of the tag node (S301).
  • the anchor nodes can find out the cost of their location using the cost function based on information collected by multiple sensors on the network.
  • Each of the ancanon nodes may individually calculate its own cost function (S401).
  • the cost function may be generalized and expressed as in Equation 1 based on sensing information of various types of sensors.
  • V is a cost
  • i is an anchor node index
  • f is a cost function
  • x is a factor affecting the cost.
  • a cost function for each location may be calculated by using the tag node's task performance path and predicting the tag node's current location and future location to which it will move.
  • the location of the tag node can be known through the task of the tag node.
  • a plurality of future locations may be set, and the anchor node may be moved to a location with a low cost using a cost calculated using the cost function. Accordingly, the anchor node can be moved to a more appropriate position, and continuity of positioning with respect to the tag node can be guaranteed.
  • the cost function may be a function expressing an advantageous degree of positioning of the tag node. If the cost is low, it can be said that the positioning of the tag node is advantageous.
  • a cost map (see FIG. 13) can be displayed by utilizing sensing information from multiple types of sensors. The cost map may be defined based on the value of the cost function of each point, and the lower the value of the cost function, the more stable positioning is possible. It can be said that the cost map represents the value of the final cost.
  • the database may include lidar, anchor-tag distance, tag path, UWB and RF signal strength, and geographic information.
  • the cost function (f) may select an optimal location of an anchor node by utilizing a path of a tag node. For example, a sub-cost (V j i ) is obtained by a sub-cost function for m discrete prediction positions at a specific time interval, that is, a certain point in time, and a sum of the sub-costs at each point in time is used to determine each anchor node. The final cost (V i ) for When the sum of the sub-costs is obtained, different weights may be assigned to each sub-cost.
  • V may mean cost
  • i may mean anchor node
  • j may mean time.
  • the sub-cost function may be defined as the sum of each detailed cost function generated at each point in time.
  • the detailed cost which is the result of the detailed cost function, may include the following. First, the result value of the function that adjusts the distance between anchor nodes (V j iA ), second, the result value of the function that adjusts the distance between the tag node and anchor node (V j iT ), and third, the result value that reflects the GPS shaded area. Result value of the function (V j iG ), fourth, result value of the function expressing obstacles using at least one of a camera and lidar sensor for terrain information (V j iO ), and fifth, a line of sight of a tag node (Line of Sight) and the resultant value (V j iM ) of the function that reflects it.
  • FIG. 8 is a diagram illustrating a detailed cost function according to anchor-anchor distance information.
  • cost may increase as it gets closer to other anchor nodes.
  • the detailed cost function for the distance between anchor 1 and anchor 2 of the ith anchor cost may increase. Accordingly, positioning of a tag can be performed while maintaining a distance between other anchor nodes at a predetermined value or more.
  • FIG. 9 is a diagram illustrating a detailed cost function according to tag-anchor distance information.
  • costs may increase if the anchor node is farther away from the tag node than a certain distance or too close to the tag node. Likewise, the cost can be low when the distance is the most efficient for positioning. According to this detailed cost function, the anchor node can maintain a certain distance from the tag node by moving to a position with the lowest cost and the most advantageous positioning of the tag node.
  • FIG. 10 is a diagram illustrating a detailed cost function according to GPS shadow area information.
  • each anchor node when it is determined that the accuracy of GPS values in a specific area is low or vibration is severe during the positioning task, the cost for the corresponding area can be increased.
  • a detailed cost function according to GPS shaded area information for each n anchor nodes the detailed cost function according to the entire GPS shadow area information is can be defined as Based on this cost function, anchor nodes can perform positioning tasks by avoiding areas with uneven GPS information.
  • 11 is a diagram for explaining a detailed cost function according to obstacle information.
  • a cost value in the surrounding area can be increased only for an object determined to be an obstacle using multiple sensors such as LIDAR and infrared rays at each anchor node. By reflecting this in the overall cost function, efficient positioning can be performed.
  • Obstacle information determined by each anchor can be shared with all anchor nodes. According to this, the network, that is, the positioning network of the entire formation can operate more stably.
  • 12 is a diagram for explaining a detailed cost function according to line-of-sight information of a tag node.
  • a transmission/reception signal between the two nodes may be weakened. Accordingly, it is possible to increase the cost for an area where it is determined that there is an obstacle between the anchor node and the tag node based on the signal strength of the positioning signal between the anchor node and the tag node.
  • the anchor nodes may perform positioning tasks toward a lower cost function value.
  • positioning missions can be performed by avoiding areas where line of sight is not secured.
  • the anchor node may maintain the current location (S402).
  • the advantageous case may refer to a case in which the final cost is smaller than the first threshold value.
  • the final cost of the current location may be greater than the first threshold value.
  • it may be additionally determined whether the final cost of the current location is greater than a second threshold (S501).
  • a first case in which the final cost of the current location is between the first threshold and the second threshold and a second case in which the final cost of the current location exceeds the second threshold can be distinguished. .
  • positioning of the tag node may be more difficult in the second case than in the first case.
  • the cost map is constructed and optimized to obtain a path with a lower cost (S502).
  • An anchor node may be moved along the path (S504). After the anchor node is moved, the cost calculation step (S401) may be performed.
  • FIG. 13 illustrates a cost map, and a path of the cost map can be obtained using a gradient vector of a cost function.
  • a path of the cost map can be obtained using a gradient vector of a cost function.
  • other methods may be used.
  • the tag node is first stopped (S503). This is because the normal positioning of the tag node is impossible, and thus the mission may be impossible.
  • the cost map is built and optimized to find a path with a lower cost (S505).
  • An anchor node may be moved along the path (S506).
  • the anchor node moves, it is possible to proceed to the step of determining whether task distribution is appropriate (S201). Since the final cost is considerably large, it may be a case where a large change such as conversion of an anchor node and a tag node, addition of a tag node, removal of a tag node, addition of an anchor node, and removal of an anchor node occurs.
  • control method of the multi-unmanned flight system of the embodiment can be performed.

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Abstract

Un système de vols à vide multiples selon la présente invention comprend : un nœud d'étiquette pour réaliser une tâche ; une pluralité de nœuds d'ancrage aptes à détecter leur distance à partir du nœud d'étiquette ; et un réseau de communication sans fil pour connecter sans fil le nœud d'étiquette et la pluralité de nœuds d'ancrage.
PCT/KR2021/019787 2021-05-28 2021-12-24 Système de vols à vide multiples et procédé de commande pour système WO2022250236A1 (fr)

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