Consensus Model and Collaborative Control Method of Large-scale Unmanned Cluster
The unmanned systems are difficult to perform a mission in complex scenarios.The consensus models and collaborative control methods for large-scale unmanned cluster are studied by taking the emergence of swarm intelligence as the starting point of the research and the quadrotor drones as the research object.A neighbor selection mechanism and an adaptive attraction and mutual repulsion mechanism for the spatial partitioning of perception perspective are designed to generate the cluster spatial configuration.Combining the formation mechanism of social consensus in opinion dynamics,a view synthesis mechanism is constructed to achieve cluster speed synchronization.The autonomous group separation and aggregation rules are proposed and an obstacle avoidance method that combines active avoidance and safe strategy are proposed,so that the cluster size is flexibly adjusted to adapt to the dense obstacle environments.Simulated results show that the proposed method can be applied to a distributed cluster of 50 UAVs.In indoor,forest and urban environments with multiple obstacles,a cluster of 10 drones can safely cross an obstacle zone at a flight speed of 5m/s.The proposed method can be also applied to a distributed cluster of 4 UAVs which can safely traverse indoor obstacle zones,verifying the effectiveness of the cluster model.
NETL
NSTL
万方数据
