Flapping-wing aerial robot formation control method

US11592842B1 · kind B1 · utility

Assignee

• University of Science and Technology Beijing · CN

Inventors

• Wei He · Tappan, US
• Xiaoyang Wu · Edison, US
• Xinyue Tang · Beijing, CN
• Qiang Fu · Beijing, CN
• Yongbin Sun · Beijing, CN
• Yao ZOU · Beijing, CN
• Xiuyu He · Beijing, CN
• Hui Zhang · Hubei, CN
• Changyin Sun · Nanjing, CN
• Yaonan Wang · Changsha, CN

Key dates

• Filing date: Apr 27, 2022
• Grant date: Feb 28, 2023
• Expiry date: Apr 27, 2042

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B64C33/00
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A flapping-wing aerial robot formation control method includes: determining a trailing vortex generation mechanism, an energy saving principle and a trailing vortex attenuation mechanism of the formation flight of a group of wild geese in accordance with the pattern of the formation flight of the group of wild geese; determining the formation flight of a group of flapping-wing aerial robots and a formation switching solution in accordance with the trailing vortex generation mechanism, energy saving principle and trailing vortex attenuation mechanism of the formation flight of the group of wild geese in conjunction with the flapping characteristic of a flapping-wing aerial robot from the perspective of energy consumption equalization and energy saving; and carrying out formation keeping control and formation reconfiguration control in accordance with the formation flight of the group of flapping-wing aerial robots and the formation switching solution by controlling positions of the group of flapping-wing aerial robots.