公开(公告)号：US11592842B1

公开(公告)日：2023-02-28

申请号：US17730232

申请日：2022-04-27

Applicant: University of Science and Technology Beijing

Inventor： Wei He ,  Xiaoyang Wu ,  Xinyue Tang ,  Qiang Fu ,  Yongbin Sun ,  Yao Zou ,  Xiuyu He ,  Hui Zhang ,  Changyin Sun ,  Yaonan Wang

IPC: G05D1/10 ,  B64C33/00

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.