CN113093767A - Formation control method for formation of underwater unmanned aircraft - Google Patents
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Abstract
The invention discloses a formation control method for formation of an underwater unmanned aircraft, which comprises the following steps: the method comprises the following steps: establishing a virtual attraction force potential field and a virtual repulsion force potential field; step two: each aircraft in the formation acquires motion parameter information of the aircraft in real time and sends the motion parameter information to the formation control platform; step three: the formation control platform calculates the size direction of the attraction force and the size direction of the repulsion force of each aircraft according to the motion parameter information, the zero potential point of the virtual attraction force potential field and the zero potential point of the virtual repulsion force potential field; step four: the formation control platform calculates correction values of all aircraft according to the magnitude direction of the suction force and the magnitude direction of the repulsion force and respectively sends the correction values to all aircraft; step five: and each aircraft receives the correction value and then adjusts navigation parameters according to the correction value. By using the formation control method for the formation of the underwater unmanned aircraft, the relative position relationship between the aircrafts in the formation can be better reflected.
Description
Technical Field
The invention relates to the field of control of underwater unmanned vehicles, in particular to a formation control method for formation of underwater unmanned vehicles.
Background
With the rapid development of world economy and ocean science and technology, the development and utilization of ocean resources and the research of ocean military science and technology have become the main melody, when an ocean detection task is executed, most of underwater unmanned vehicles are used for operation, but the range of observation and detection by using a single underwater vehicle is effective, the energy is limited, and the observation and detection are not beneficial to the large-range specific operation task, so that the formation by using a plurality of underwater vehicles becomes a hotspot of the current unmanned vehicle cluster control.
In the formation and operation process of underwater vehicles, the relative positions of the platforms need to be kept under complex sea conditions, so that the operation task can be efficiently completed. In the existing formation control process of underwater vehicles, the relative position between the various vehicles needs to be acquired in real time, and the navigation parameters of the various vehicles are adjusted according to the relative position so as to avoid collision between the vehicles, however, the relative position is difficult to acquire accurately, the data calculation amount of a control platform is greatly increased, and the control platform is not beneficial to being used in a complex sea area environment.
Therefore, a formation control method for formation of unmanned underwater vehicles is needed, and the position of each vehicle can be conveniently controlled.
Disclosure of Invention
The invention aims to provide a new technical scheme for controlling the formation of a formation of an underwater unmanned aircraft.
According to a first aspect of the invention, a formation control method for formation of an underwater unmanned aircraft is provided, which comprises the following steps:
the method comprises the following steps: establishing a virtual attractive force potential field and/or a virtual repulsive force potential field in the formation;
step two: each aircraft in the formation acquires motion parameter information of the aircraft in real time and sends the motion parameter information to the formation control platform;
step three: the formation control platform calculates the magnitude direction of the attraction force and/or the magnitude direction of the repulsion force of each aircraft according to the motion parameter information, the zero potential point of the virtual attraction force potential field and/or the zero potential point of the virtual repulsion force potential field;
step four: the formation control platform calculates correction values of all aircraft according to the size direction of the suction force and/or the size direction of the repulsive force and respectively sends the correction values to corresponding aircraft;
step five: and the corresponding aircraft receives the correction value and then adjusts the navigation parameters according to the correction value.
Preferably, in step one, a virtual attraction potential field is established by taking the target position of each vehicle as a zero potential point of the virtual attraction potential field, and each vehicle is attracted by the zero potential point of the corresponding virtual attraction potential field; and establishing a virtual repulsive force field by taking the actual position of each aircraft as a zero potential point of the virtual repulsive force field, wherein each aircraft is repelled by the zero potential point of the adjacent virtual repulsive force field.
Preferably, the target position of the aircraft is calculated from the actual position of the formation control platform and the formation structure of the formation of the aircraft.
Preferably, the position of the zero potential point of the virtual suction potential field compared with the actual position is used as the direction of suction, and the magnitude of suction is positively correlated with the distance of the zero potential point of the virtual suction potential field compared with the actual position; and the direction between the zero potential points of the adjacent virtual repulsive force potential fields is used as the direction of repulsive force, and the size of the repulsive force is in negative correlation with the distance between the zero potential points of the virtual repulsive force potential fields.
Preferably, the virtual repulsive force field is provided with an effective radius, and when the distance between two aircrafts is greater than the effective radius, the virtual repulsive force is zero; when the distance between two vehicles is in contact, the virtual repulsive force is infinite.
Preferably, in step two, each aircraft can communicate with the control platform wirelessly, and the motion parameter information at least includes position information, speed information and heading information of the aircraft.
Preferably, when the formation control platform receives the motion parameter information, the formation control platform first performs low-frequency filtering processing on the motion parameter information, performs uniform formatting processing on the motion parameter information, and then performs calculation of the suction force and the repulsion force of each aircraft.
Preferably, the correction quantity at least comprises a speed correction quantity and an azimuth correction quantity, the aircraft adjusts the pitching motor and the oil discharge quantity according to the speed correction quantity, and adjusts the rotating speed of the roll motor according to the azimuth correction quantity.
Preferably, the method further comprises the following steps: and each aircraft in the formation acquires own abnormal condition information in real time and sends the abnormal condition information to the formation control platform, and the formation control platform processes the abnormal condition of the aircraft according to the abnormal condition information.
Preferably, the formation control platform is located in an aircraft formation.
According to one embodiment of the disclosure, the formation control method of the underwater unmanned aircraft formation can better reflect the relative position relationship between the aircrafts in the formation, and can facilitate the control of the formation control platform on each aircraft in the formation through the attraction relationship of the target position to the aircrafts and the repulsion relationship between the aircrafts so as to better keep the formation and avoid collision between the aircrafts; each aircraft only needs to send motion parameter information and receive correction values, excessive calculation resources are not occupied, and ocean detection tasks can be completed better.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a flowchart of a formation control method for formation of an underwater unmanned vehicle according to an embodiment of the invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Examples
The formation control method for the formation of the underwater unmanned aircraft in the embodiment mainly comprises the following steps:
s1100: establishing a virtual attraction force potential field and a virtual repulsion force potential field in the formation;
in the step, a virtual attraction potential field is established by taking the target position of each aircraft as a zero potential point of the virtual attraction potential field, and each aircraft is attracted by the zero potential point of the corresponding virtual attraction potential field so as to keep the position of each aircraft; the actual position of each aircraft is used as a zero potential point of the virtual repulsive potential field to establish a virtual repulsive potential field, and each aircraft is repelled by the zero potential point of the adjacent virtual repulsive potential field, so that collision danger caused by too close distance between the aircraft is avoided.
The target position of the aircraft is calculated by the actual position of the formation control platform and the formation structure of the formation of the aircraft; in a pre-formed formation, each aircraft has a fixed target position relative to a formation control platform, and the target position of each aircraft can be determined after the actual position of the formation control platform is determined during formation navigation.
The virtual repulsion potential field is provided with an effective radius, and when the distance between two aircrafts is larger than the effective radius, the virtual repulsion is zero; when the distance between two vehicles is in contact, the virtual repulsive force is infinite.
In this embodiment, in order to ensure the position accuracy of each aircraft in the formation and avoid collision of the aircraft, the control effect of the formation is improved, and the virtual attraction potential field and the virtual repulsion potential field are established at the same time.
The formation control platform is positioned in the formation of the aircraft, is generally positioned in the middle of the formation, and is convenient for sending instructions and receiving parameter information sent by other slave aircraft.
S1200: each aircraft in the formation acquires motion parameter information of the aircraft in real time and sends the motion parameter information to the formation control platform;
in this step, each aircraft can communicate wirelessly with the control platform, such as by underwater acoustic communication and/or satellite communication; the motion parameter information at least comprises position information, speed information and course information of aircrafts, and the motion parameter information is detected by sensors in the aircrafts;
before sending the information of the parameters encountering with the hacking to the formation control platform, the information in each layer is firstly converted into a uniform format of formation, so that the variable units in the information sent by each platform are consistent, and the data types are consistent, thereby facilitating the receiving and processing of the formation control platform.
S1300: the formation control platform calculates the size direction of the attraction force and the size direction of the repulsion force of each aircraft according to the motion parameter information, the zero potential point of the virtual attraction force potential field and the zero potential point of the virtual repulsion force potential field;
in this step, the position of the zero potential point of the virtual attraction potential field relative to the actual position is used as the direction of attraction, and the magnitude of the attraction is positively correlated with the distance between the zero potential point of the virtual attraction potential field and the actual position; and the direction between the zero potential points of the adjacent virtual repulsive force potential fields is used as the direction of repulsive force, and the size of the repulsive force is in negative correlation with the distance between the zero potential points of the virtual repulsive force potential fields.
And taking the deviation between the actual position and the set target position of each member in the formation as an independent variable, increasing the attraction potential energy along with the increase of the distance between the members and reducing the attraction potential energy along with the decrease of the distance between the members, and when the deviation is zero, the attraction potential energy is also zero.
S1400: the formation control platform calculates correction values of all aircraft according to the magnitude direction of the suction force and the magnitude direction of the repulsion force and respectively sends the correction values to all aircraft;
in this step, the formation control platform transmits the calculated corrections to each of the underwater unmanned vehicles through underwater acoustic communication or satellite communication, the corrections including at least a speed correction and an azimuth correction.
For example, when the azimuth correction value of the underwater unmanned vehicle is calculated according to the direction of the attraction force or the repulsion force, the angles and the rotating directions of the roll motor and the pitch motor are controlled to control the underwater unmanned vehicle to move towards the attraction force zero potential point or to be far away from the repulsion force zero potential point, so that the correct position of the underwater unmanned vehicle is ensured and collision is avoided; the correction value is converted into the angle required to be adjusted by the roll motor and the pitch motor according to the direction of the attraction force or the repulsion force, so that the unmanned vehicle can return to the set position within the expected time.
When the speed correction value is calculated according to the magnitude of the suction force and the repulsion force, the larger the suction force or the repulsion force is, the larger the speed variation of the underwater unmanned vehicle is adjusted, and the smaller the suction force or the repulsion force is, the smaller the speed of the underwater unmanned vehicle is, only the fine adjustment is needed, and the speed adjustment is controlled through the rotation speed of the main propeller of the underwater unmanned vehicle.
When the direction of the suction force or the repulsion force is the same as or opposite to the theoretical navigation direction, the speed of the underwater unmanned vehicle is only required to be corrected, for example, the position of the underwater unmanned vehicle is adjusted by accelerating or decelerating; when the direction of the suction force or the repulsion force forms a certain included angle with the theoretical navigation direction, the roll motor and the pitch motor need to be adjusted.
S1500: and each aircraft receives the correction value and then adjusts navigation parameters according to the correction value.
In the step, after the aircraft receives a correction value through underwater acoustic communication or satellite communication, the pitching motor and the oil discharge amount are adjusted according to the speed correction value, and the rotating speed of the rolling motor is adjusted according to the azimuth correction value.
In this embodiment or other embodiments, when the formation control platform receives the motion parameter information, the formation control platform first performs low-frequency filtering processing on the motion parameter information to remove outliers in an underwater acoustic communication process, and performs calculation of the suction force and the repulsion force of each aircraft after performing uniform formatting processing on the motion parameter information.
When the virtual potential field is established, the deviation between the actual position and the set target position of each member in the formation is used as an independent variable to establish a virtual suction potential field function as follows. Formula (1) shows that the virtual attractive potential field function increases the attractive potential energy with increasing distance between the members, decreases the attractive potential energy with decreasing distance between the members of the formation, and also becomes zero when the deviation is zero.
Wherein, U1iRepresenting the suction potential field function, K, of the ith underwater vehicle1Is a positive proportional gain coefficient in the attractive force potential field, ri0Representing the set target point (x) of the ith underwater vehiclei0 yi0 zi0)，riIndicating the actual position of the ith underwater vehicle
The resulting attraction is a negative gradient of the attractive potential field, F1iAnd (3) representing an attraction function of the ith underwater vehicle in a specific form as follows:
equation (2) shows that the relationship between the virtual suction potential field function and the virtual suction value also increases as the distance between the members increases, decreases as the distance between the members decreases, and also becomes zero when the deviation is zero.
Establishing repulsive force potential field function, and taking member in formation as center AUGjDefining the range of repulsive force field, and setting the radius as raj. By AUGjRepulsive force potential field at the center, when other member AUGiNear the AUGjRepulsive force is generated to prevent collision. As shown in formula (3), the repulsive potential of the members of the formation decreases with the distance between the members, and when the distance between the members exceeds rjaThe time repulsion is zero; the repulsive potential energy increases as the distance between the two decreases, approaching infinity when in close proximity. The repulsive potential field situation is similar for the other members.
Wherein, U2iRepresents the repulsive potential field function, K, of the ith underwater vehicle2Is a positive proportional gain coefficient, r, in the repulsive potential fieldjaDenotes the repulsive force potential field range radius, r, of the underwater vehicleiIndicating the actual position of the ith underwater vehicle
The repulsion force thus generated being a negative gradient of the repulsive force field, F2iAnd (3) representing a repulsive force function of the ith underwater vehicle, wherein the specific form is as follows:
the formula (4) shows that the repulsive force value of the formation members is reduced along with the increase of the distance between the formation members, and when the two exceed rjaThe repulsive force isZero; the value of the repulsive force increases as the distance between the two decreases, and approaches infinity when in close proximity.
The members of the underwater vehicle formation adjust the positions of the members in the formation in time according to the designed artificial attraction potential field and the repulsion potential field, so that the distance between the members and the surrounding neighbor members is kept, and the members can stably run according to the set formation structure.
In this embodiment or other embodiments, in the step of obtaining motion parameter information of each aircraft in the formation in real time and sending the motion parameter information to the formation control platform, the method further includes: each aircraft in the formation acquires own abnormal condition information in real time and sends the abnormal condition information to a formation control platform, and the formation control platform processes the abnormal condition of the aircraft according to the abnormal condition information; in the step, before the control cycle is finished, the abnormal formation operation condition needs to be processed in time, if the underwater acoustic communication is abnormal, the control cycle is switched to a satellite communication mode, and the control frequency is adjusted; if the formation central controller has problems, the formation control authority is handed over to the shore-based command platform. If there is no abnormality, the next control cycle is performed.
By using the formation control method for the formation of the underwater unmanned aircraft, the relative position relationship between the aircrafts in the formation can be better reflected, and the formation control platform can conveniently control each aircraft in the formation through the attraction relationship between the target position and the aircrafts and the repulsion relationship between the aircrafts, so that the formation can be better maintained, and the collision between the aircrafts can be avoided;
each aircraft only needs to send motion parameter information and receive the correction value, excessive calculation resources are not occupied, and the aircraft can better complete ocean exploration tasks by utilizing more calculation resources;
the method is simple in calculation and convenient to achieve real-time control, and the artificial potential field of each formation member platform is constructed by taking the self of each formation member platform as a potential field zero point and is used for adjusting the distance between members of the formation.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A formation control method for formation of an underwater unmanned aircraft is characterized by comprising the following steps:
the method comprises the following steps: establishing a virtual attraction force potential field and a virtual repulsion force potential field in the formation;
step two: each aircraft in the formation acquires motion parameter information of the aircraft in real time and sends the motion parameter information to the formation control platform;
step three: the formation control platform calculates the magnitude direction of the attraction force and the magnitude direction of the repulsion force of each aircraft according to the motion parameter information, the zero potential point of the virtual attraction force potential field and the zero potential point of the virtual repulsion force potential field;
step four: the formation control platform calculates correction values of all aircraft according to the magnitude direction of the suction force and the magnitude direction of the repulsion force and respectively sends the correction values to the corresponding aircraft;
step five: and the corresponding aircraft receives the correction value and then adjusts the navigation parameters according to the correction value.
2. The formation control method for the formation of the underwater unmanned aerial vehicles according to claim 1, wherein in the first step, a virtual attraction potential field is established by taking the target position of each vehicle as a zero potential point of the virtual attraction potential field, and each vehicle is attracted by the zero potential point of the corresponding virtual attraction potential field; and establishing a virtual repulsive force field by taking the actual position of each aircraft as a zero potential point of the virtual repulsive force field, wherein each aircraft is repelled by the zero potential point of the adjacent virtual repulsive force field.
3. The formation control method for formation of the underwater unmanned aerial vehicle formation according to claim 2, wherein the target position of the vehicle is calculated from the actual position of the formation control platform and the formation structure of the formation of the vehicle.
4. The formation control method for the formation of the underwater unmanned aerial vehicle according to claim 3, wherein the orientation of the zero potential point of the virtual suction potential field compared with the actual position is taken as the direction of suction, and the magnitude of suction is positively correlated with the distance of the zero potential point of the virtual suction potential field compared with the actual position; and the direction between the zero potential points of the adjacent virtual repulsive force potential fields is used as the direction of repulsive force, and the size of the repulsive force is in negative correlation with the distance between the zero potential points of the virtual repulsive force potential fields.
5. The formation control method of underwater unmanned aerial vehicle formation according to claim 4, wherein the virtual repulsive force field is provided with an effective radius, and when the distance between two vehicles is greater than the effective radius, the virtual repulsive force is zero; when the distance between two vehicles is in contact, the virtual repulsive force is infinite.
6. The formation control method for the formation of the underwater unmanned aerial vehicles according to claim 1, wherein in the second step, each vehicle can wirelessly communicate with the control platform, and the motion parameter information at least comprises position information, speed information and heading information of the vehicle.
7. The formation control method of the underwater unmanned aerial vehicle formation according to claim 6, wherein when the formation control platform receives the motion parameter information, the formation control platform first performs low-frequency filtering processing on the motion parameter information, performs uniform formatting processing on the motion parameter information, and then performs calculation of the suction force and the repulsion force of each vehicle.
8. The formation control method of the formation of the underwater unmanned aerial vehicles according to claim 1, wherein the correction amount at least comprises a speed correction amount and an orientation correction amount, the vehicle adjusts the pitch motor and the oil discharge amount according to the speed correction amount, and adjusts the rotation speed of the roll motor according to the orientation correction amount.
9. The method for formation control of a formation of an underwater unmanned aerial vehicle formation according to claim 1, further comprising the steps of: and each aircraft in the formation acquires own abnormal condition information in real time and sends the abnormal condition information to the formation control platform, and the formation control platform processes the abnormal condition of the aircraft according to the abnormal condition information.
10. The formation control method for formation of an underwater unmanned aerial vehicle according to any one of claims 1 to 9, wherein the formation control platform is located in a formation of an underwater unmanned aerial vehicle.
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