METHOD FOR GENERATING UNMANNED AERIAL VEHICLE CLUSTER ESCORT BEHAVIOR BASED ON IMPROVED VIRTUAL FORCE FIELD

摘要

A method for generating an unmanned aerial vehicle cluster escort behavior based on an improved virtual force field. By using a combined force formed by an individual repulsive force of an individual unmanned aerial vehicle, an individual consistent force, an individual attraction force, an escort target attraction force, an high-value area attraction force and a no-fly zone repulsive force as a virtual control force model of the individual unmanned aerial vehicle in a virtual force field and then establishing a force model of an unmanned aerial vehicle cluster virtual force field, the acceleration of each unmanned aerial vehicle is controlled by the virtual control force applied to each unmanned aerial vehicle, and an escort behavior of a reconnaissance unmanned aerial vehicle cluster is generated. According to the method, the direction of movement can be autonomously planned for each unmanned aerial vehicle, a reconnaissance formation is generated with an escort target as a center, and the method has the functions of avoiding the no-fly zone, primarily observing a high-value target and avoiding obstacles within the cluster.