| CPC G08G 5/55 (2025.01) [G05D 1/0022 (2013.01); G05D 1/0027 (2013.01); G08G 5/57 (2025.01); B64U 70/30 (2023.01); B64U 2101/16 (2023.01)] | 16 Claims |
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1. A method of surrounding target unmanned aerial vehicles (UAVs), comprising:
modeling a swarm of target UAVs as an arbitrary shape;
carrying, by pursuing UAVs, a ropeline in an open-chain configuration, wherein the ropeline comprises a plurality of ropes and each pursuing UAV of the pursuing UAVs is connected to at least one connected adjacent pursuing UAV of the pursuing UA Vs by a rope of the plurality of ropes, and each rope of the plurality of ropes connects at most one pursuing UAV of the pursing UAV with the at least one connected adjacent pursuing UAV of the pursuing UAVs;
determining accelerations of the pursuing UAVs based on a collision cone framework;
for each pursuing UAV of the pursuing UAVs, adjusting an inter-vehicle distance between the pursuing UAV and the at least one connected adjacent pursuing UAV in correspondence with a size and a shape of the swarm of target UAVs and a maximum length of the rope connecting the pursuing UAV and the at least one connected adjacent pursuing UAV;
for each pursuing UAV of the pursuing UAVs, in response to adjusting the inter-vehicle distance between the pursuing UAV and the at least one connected adjacent pursuing UAV, adjusting a length of the rope connecting the pursuing UAV and the at least one connected adjacent pursuing UAV based on the adjusted inter-vehicle distance;
surrounding the target UAVs within a convex hull of the pursuing UAVs; and
surrounding, by the pursuing UAVs, the target UAVs using the accelerations determined by the collision cone framework to cooperatively steer the pursuing UA Vs to intercept the arbitrary shape.
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