The invention discloses an online conflict resolution method and device for short-distance flight of multiple unmanned aerial vehicles, and belongs to the technical field of unmanned aerial vehicle cooperative control. The method comprises the following steps: acquiring first state information of the unmanned aerial vehicle and second state information of other surrounding unmanned aerial vehicles, and acquiring task information of the unmanned aerial vehicle; judging whether conflicts occur or not according to the first state information and the second state information, analyzing the types of the conflicts in pairs after detecting that the conflicts occur, and obtaining a corresponding coordination method according to an analysis result to perform conflict coordination so as to obtain a feasible region; if a plurality of two-by-two conflicts occur at the same time, acquiring a common feasible region as a final feasible region; performing task analysis according to the first state information and the task information to obtain an optimal course; and carrying out online optimization on the feasible region and the optimal course to obtain an optimal course change angle. The online conflict resolution coordination method based on the classification model provided by the invention can ensure safe and ordered flight of a large number of unmanned aerial vehicles during short-distance flight.

    本发明公开了一种多架无人机近距离飞行的在线冲突消解方法及装置,属于无人机协同控制技术领域。方法包括:获取自身的第一状态信息和周围其他无人机的第二状态信息,以及获取自身的任务信息;根据第一状态信息和第二状态信息判断是否出现冲突,并在检测到出现冲突后,进行两两冲突类型分析,根据分析结果获取对应的协调方法进行冲突协调,获得可行区域;若同时出现多个两两冲突,获取共同的可行区域作为最终的可行区域;根据第一状态信息和任务信息进行任务分析,以获得最优航向;对可行区域和最优航向进行在线优化,获得最优的航向变化角。本发明提供的基于分类模型的在线冲突解决协调方法能够保证大量无人机在近距离飞行时的安全与有序飞行。


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    Title :

    Online conflict resolution method and device for short-distance flight of multiple unmanned aerial vehicles


    Additional title:

    一种多架无人机近距离飞行的在线冲突消解方法及装置


    Contributors:
    YANG JIAN (author) / MA YUHANG (author) / WANG XIANGKE (author) / YANG GUOLI (author) / DENG XIAOYAN (author) / HAN JIALE (author) / YANG FAN (author) / XU XIAO (author) / ZHANG KAIXIN (author)

    Publication date :

    2024-02-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS