Consensus Model and Collaborative Control Method of Large-scale Unmanned Cluster

doi:10.12382/bgxb.2024.0869

Abstract

Abstract:

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.

Key words: unmanned cluster, consensus coordination, active avoidance, safe obstacle avoidance, opinion synthesis

LI Shiying, DING Yinghe, SUN Haiwen, XU Zheng, LI Ye, TANG Enbo. Consensus Model and Collaborative Control Method of Large-scale Unmanned Cluster[J]. Acta Armamentarii, 2024, 45(S2): 113-122.

Figures/Tables 17

Fig.1 Schematic diagram of Euler angle of UAV

Fig.2 Separation of unmanned cluster when encountering an obstacle

Fig.3 Quadrotor UAV cluster experiment with neighbor’s viewing angle of 40 degrees

Fig.4 Process of UAV cluster crossing the obstacles in indoordense scenes(left:the group crossing the first row of obstacles,right:the group crossing the second row of obstacles)

Fig.5 Flight trajectory of UAV cluster in indoor dense scenes

Fig.6 Neighbor distance diagram in indoor dense scenes

Fig.7 Flight speed diagram in indoor dense scenes

Fig.8 Forest simulation scene(left:before crossing, right:after crossing)

Fig.9 Flight trajectory in forest simulation scene

Fig.10 Neighbor distance diagram in forest simulation scene

Fig.11 Flight speed diagram in forest simulation scene

Fig.12 Flight trajectory in city simulation scene

Fig.13 Neighbor distance diagram in city simulation scene

Fig.14 Flight speed diagram in city simulation scene

Fig.15 Four UAVs(left:physical experiment scene. right:real UAV model)

Fig.16 Top view of flight trajectory

Fig.17 Real flight trajectories of four UAVs

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