The intermittent communication links or satellite navigation signals of UAV nodes will make it difficult for them to form a swarm through information exchange, this paper proposes a distributed method to form UAV swar...
详细信息
ISBN:
(纸本)9781665473156
The intermittent communication links or satellite navigation signals of UAV nodes will make it difficult for them to form a swarm through information exchange, this paper proposes a distributed method to form UAV swarm based on monocular vision information. Firstly, we construct a distributed swarm control model based on monocular vision information. Secondly, a modified YOLOV3-tiny method is proposed to reduce the resource consumption of targetdetection through model pruning. Thirdly, a geometric method is proposed to estimate the orientation of target UAVs and the distance to them. Finally, a prototype system is designed and implemented on the Gazebo simulation platform, and swarm flight tests are carried out in various scenarios to verify the feasibility of the proposed method.
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