CN105589470A - Multi-UAVs distributed formation control method - Google Patents

Multi-UAVs distributed formation control method Download PDF

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Publication number
CN105589470A
CN105589470A CN201610038881.5A CN201610038881A CN105589470A CN 105589470 A CN105589470 A CN 105589470A CN 201610038881 A CN201610038881 A CN 201610038881A CN 105589470 A CN105589470 A CN 105589470A
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unmanned plane
plane
frame
distance
formation control
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林志赟
程鹏
沈洪梁
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying

Abstract

The invention relates to a multi-UAVs distributed formation control method. The method includes following steps: n unmanned aerial vehicles are deployed in a preset area, wherein n is an integer greater than or equal to 3; the unmanned aerial vehicles can actively obtain relative position information of the adjacent unmanned aerial vehicles in a self inertia coordinate system; and the unmanned aerial vehicles calculate the expected speed of the unmanned aerial vehicles via a distributed control algorithm and perform speed control so that the unmanned aerial vehicles maintain a given distance, and a triangular chain formation is formed when the system is stable. According to the formation control method, the convergence is good, the system can be guaranteed to be stable, the communication network can be prevented from being attacked, the system anti-interference capability is improved, and compared with the conventional formation control algorithm, the required calculation resource is fewer, and the required control quantity is more easily obtained.

Description

The distributed formation control method of a kind of multiple no-manned plane
Technical field
The present invention relates to unmanned plane formation control field, be specifically related to the distributed formation control of a kind of multiple no-manned planeMethod processed.
Background technology
Search and rescue in target, agricultural value is protected, in numerous application such as security monitor, single unmanned plane in efficiency andOn cruising time, be difficult to meet the demand of operation on a large scale, carry out formation work to closing by multiple unmanned planesImportant. By the formation control strategy of effective unmanned plane, can effectively solve the operation of unmanned plane large areaProblems in application scenarios.
For the shortcoming of single frame unmanned plane, proposed in recent years the concept of formation flight control and obtained oneFixed that achievement in research mainly comprises: configuration design, pneumatic coupling, formation are dynamically adjusted, flight path is coordinated ruleDraw, mobile ad-hoc network and formation flight control method etc. Formation control method generally include based onThe formation control of behavior, the formation control of " lead aircraft-wing plane " mode and virtual architecture mode formation control.
Chinese invention patent (CN102591358A) discloses a kind of dynamic formation control side of multiple no-manned planeMethod, belongs to flight control technology field, comprises step 1: Keeping Formation; Step 2: keep away barrier sideMethod; Step 3: the formation process based on behavior, wherein the formation process behavior of being respectively based on behavior dividesSeparate and control realization. This patent has been introduced the formation control method based on behavior, has reduced forming into columns wirelessThe requirement of Data-Link turnover rate, has strengthened the barrier ability of keeping away that unmanned aerial vehicle group is formed into columns; Introduced virtual knot simultaneouslyStructure as a reference.
The method of unmanned plane formation control is formed into columns mainly with the mode of obtaining unmanned plane world coordinates greatly at presentControl. Consider the area that cannot use at GPS, cannot obtain each unmanned plane under global coordinate systemPositional information, such control method just can lose efficacy. In unmanned plane formation control research, be no matterCentralized or distributed control method all depends on the data communication between unmanned plane. Centralized controlMethod often needs to set up the star communication network that covers all nodes; And in employing distributed control methodNeed to set up equally netted communication link and realize data interaction between node.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, provide a kind of multiple no-manned plane distributed formationControl method, by allowing each unmanned plane initiatively measure neighbours' unmanned plane with respect under self inertia coordinate systemRelative position, thereby the motion of controlling self reaches formation.
The present invention is that technical solution problem is taked following technical scheme:
The distributed formation control method of a kind of multiple no-manned plane, comprises the steps:
1) in predeterminable area, dispose n frame unmanned plane, the integer that n is n >=3; Described unmanned plane canThe relative position information of active obtaining neighbours unmanned plane under self inertia coordinate system;
2) the 1st unmanned plane and the 2nd unmanned plane difference active obtaining the other side are under self inertia coordinate systemRelative position information, calculate the 1st unmanned plane and the 2nd unmanned plane by distributed control algolithmDesired speed, makes the 1st unmanned plane and the 2nd unmanned plane keep given distance thereby carry out speed controlFrom;
3) by number 3rd～n frame unmanned plane is carried out to formation control, i frame unmanned plane active obtaining i-1Frame unmanned plane and the relative position information of i-2 frame unmanned plane under self inertia coordinate system, by distributedControl algolithm is calculated the desired speed of i frame unmanned plane, makes i frame unmanned plane pair thereby carry out speed controlBetween i-1 frame unmanned plane and i-2 frame unmanned plane, keep given distance, system reaches while stablizing and formsTriangle chain is formed into columns.
Technique scheme does not rely on overall reference frame, utilizes to measure and sits in unmanned plane self inertiaMark is relative positions lower and the one or more unmanned planes of neighbours, thus the side that realizes unmanned plane formation controlMethod. By allow each unmanned plane initiatively measure neighbours' unmanned plane with respect under self inertia coordinate system relativelyPosition, thus the motion of controlling self reaches formation. This method does not need to build between multiple unmanned planesVertical reliable communication link, reduced formation control method for the dependence of communication link quality with communicated by letterThe possibility that network is attacked, and only rely on relative position information to carry out distributed formation control,Consider to be easier to realize from reality.
As preferably, the built-in laser scanner of described unmanned plane, laser scanner can obtain neighbours withoutMan-machine relative position information under self inertia coordinate system, described relative position information is relative distanceAnd relative angle.
As further preferably, described unmanned plane is according to control cycle 0.05～0.15s, by described relativelyDistance and relative angle convert vector to by polar coordinates.
As preferably, described predeterminable area is horizontal plane.
As further preferred, described unmanned plane meets following motion model in horizontal plane:
xi′＝ui,i＝1,2,…,n；
The integer that wherein n is n >=3, xiFor the position vector of unmanned plane in horizontal plane, xi' be unmanned planeThe derivative of the position vector in horizontal plane, uiFor unmanned plane is at the velocity vector of horizontal in-plane moving.
As preferably, described step 2) in calculate the expectation speed of the 1st unmanned plane and the 2nd unmanned planeThe method of degree:
u 1 = v 0 + ( x 2 - x 1 ) ( | | x 2 - x 1 | | 2 - d 12 2 ) ;
u 2 = v 0 + ( x 1 - x 2 ) ( | | x 1 - x 2 | | 2 - d 12 2 ) ;
Wherein, x1Represent the position vector of the 1st unmanned plane under himself inertia plane coordinate system, logicalNormal is the origin of coordinates; x2Represent the position vector of the 2nd unmanned plane under himself inertia plane coordinate system;||x2-x1|| be the Euclidean distance between the 2nd unmanned plane and the 1st unmanned plane; || x1-x2|| be the 1stEuclidean distance between frame unmanned plane and the 2nd unmanned plane; d12Be the 1st unmanned plane and the 2ndDistance between unmanned plane, normally given with the form of constant; v0While stablizing for formation, unmanned planeDesired motion velocity vector; u1Represent the desired speed of the 1st unmanned plane with respect to self inertia coordinate systemVector controlled quentity controlled variable, u2Represent the desired speed vector control of the 2nd unmanned plane with respect to self inertia coordinate systemAmount processed.
As preferably, described step 3) in calculate the method for the desired speed of i frame unmanned plane:
θ i ′ = ( x i - 2 - x i ) ( | | x i - 2 - x i | | 2 - d ( i - 2 ) i 2 ) + ( x i - 1 - x i ) ( | | x i - 1 - x i | | 2 - d ( i - 1 ) i 2 ) ;
u i = θ i + ( x i - 2 - x i ) ( | | x i - 2 - x i | | 2 - d ( i - 2 ) i 2 ) + ( x i - 1 - x i ) ( | | x i - 1 - x i | | 2 - d ( i - 1 ) i 2 ) ;
Wherein, xi-1Be the position of i-1 frame unmanned plane in i frame unmanned plane self inertia plane coordinate systemVector measurement value, xi-2Be the position of i-2 frame unmanned plane in i frame unmanned plane self inertia plane coordinate systemPut vector measurement value, xiBe the position vector of i frame unmanned plane in self inertia plane coordinate system; ||xi-2-xi|| be the Euclidean distance between i-2 frame unmanned plane and i frame unmanned plane; || xi-1-xi|| forEuclidean distance between i-1 frame unmanned plane and i frame unmanned plane; d(i-1)iIt is the i frame unmanned plane phaseHope the distance keeping between i-1 frame unmanned plane, d(i-2)iBe i frame unmanned plane expect with i-2 frame withoutThe distance keeping between man-machine, conventionally given with constant form; θiFor the required intermediate quantity of algorithm design, θi′For the derivative of the required intermediate quantity of algorithm design, its physical meaning is: when system reaches while stablizing, and θiConvergenceIn unmanned plane desired speed vector v0；uiBe the expectation speed of i frame unmanned plane with respect to self inertia coordinate systemSpend vectorial controlled quentity controlled variable.
As preferably, described step 3) in i frame unmanned plane to i-1 frame unmanned plane and i-2 frame withoutBetween man-machine, keep given distance to be respectively d(i-1)iAnd d(i-2)i, i-1 frame unmanned plane and i-2 frame are unmannedDistance between machine is d(i-1)(i-2), described given distance need to meet the following conditions:
d(i-1)(i-2)＜d(i-2)i+d(i-1)i；
d(i-2)i＜d(i-1)(i-2)+d(i-1)i；
d(i-1)i＜d(i-1)(i-2)+d(i-2)i。
As preferably, the desired speed of described unmanned plane carries out saturated restriction, and maximal rate can not exceedThe maximal rate of unmanned plane self.
Compared with the existing technology, beneficial effect of the present invention is embodied in:
(1) distributed control algolithm computing formula is linear system, with respect to existing formation control algorithm,Have good convergence, the system of guarantee is stable;
(2), for each unmanned plane, only need to use the relative position information of neighbours' unmanned planeJust can realize formation control as controlled quentity controlled variable, consider from the angle realizing, than existing formation controlAlgorithm, the present invention needs computational resource and required controlled quentity controlled variable still less more easily to obtain;
(3) adopt the mode of initiatively measuring to obtain and control required relative position information, do not need to set up manyBetween unmanned plane, the mutual needed communication network of data message, can avoid communication network under attack,Increase system rejection to disturbance ability.
Brief description of the drawings
Fig. 1 adopts laser scanner obtain neighbours' unmanned plane relative position information and pass through the utmost point in embodimentCoordinate Conversion vector schematic diagram;
Fig. 2 is the 1st unmanned plane and the 2nd the movement locus signal that unmanned plane formation is formed into columns in embodimentFigure;
Fig. 3 is the schematic diagram that in embodiment, multiple unmanned planes reach formation position relation while stablizing;
Fig. 4 is the position relationship schematic diagram that in embodiment, all unmanned planes form the original state of forming into columns;
Fig. 5 is that the steady state position that in embodiment, all unmanned planes formation is formed into columns is related to schematic diagram.
Detailed description of the invention
In level height is the horizontal plane of 5 meters, disposes 20 four rotor wing unmanned aerial vehicles and (fly control based on increasing incomeSelf-control four rotors of pixhawk, model: wheelbase 550mm), in order to 20 four rotor wing unmanned aerial vehiclesBe numbered, as shown in Figure 4.
Unmanned plane meets following motion model in horizontal plane:
xi′＝ui,i＝1,2,…,n；
The integer that wherein n is n >=3, xiFor the position vector of unmanned plane in horizontal plane, xi' be unmanned planeThe derivative of the position vector in horizontal plane, uiFor unmanned plane is at the velocity vector of horizontal in-plane moving.
The hardware system of unmanned plane adopts two embedded main board cascades to realize. An embedded main board is doneFor flight controller uses, directly drive the physical equipment of bottom; Another embedded main board can be used forFor external sensor provides interface, obtain sensing data simultaneously and carry out high-rise distributed formation control and calculateMethod; Between two boards, pass through wired connection, by high-rise result of calculation is passed on bottom mainboard and usedIn control, can realize four-axle aircraft autonomous flight. Described external sensor is that unmanned plane is built-in sharpPhotoscanner, can initiatively measure neighbours' unmanned plane and the relative position information of self.
Laser scanner measurement neighbours unmanned plane and the relative position information of self, should be by laser scannerThe zero point of measurement category is consistent with the x axle of unmanned plane self inertia velocity coordinate system, can facilitate like this phaseTo the calculating of position, embedded main board converts the required vector of algorithm to by polar coordinates, as shown in Figure 1,Reference axis initial point is the seat of i frame unmanned plane, and right side is i-1 frame unmanned plane, and left side is i-2 frameWithout other, the relative angle of i frame unmanned plane and i-1 frame unmanned plane is α, i frame unmanned plane andThe relative angle of i-2 frame unmanned plane is β.
Two leader-unmanned planes that are numbered 1 and 2 are passed through respectively to built-in laser scanner, initiatively obtainGet the relative position information of the other side under self inertia coordinate system, comprise relative distance and relative angle, logicalCross distributed control algolithm and calculate the desired speed of the 1st unmanned plane and the 2nd unmanned plane, carry out speedThereby controlling makes the 1st unmanned plane and the 2nd unmanned plane keep given distance; The expectation speed of unmanned planeDegree carries out saturated restriction, and maximal rate can not exceed the maximal rate of unmanned plane self.
The movement locus that the formation of the 1st unmanned plane and the 2nd unmanned plane is formed into columns as shown in Figure 2, oneUnder individual given reference frame, two unmanned planes are respectively from the initial position of (0,0) and (50,20)Setting in motion, finally keeps between them being given as 8 distance with speed (1,1) motion, and formation is protectedKeep steady fixed.
Calculate the method for the desired speed of the 1st unmanned plane and the 2nd unmanned plane:
u 1 = v 0 + ( x 2 - x 1 ) ( | | x 2 - x 1 | | 2 - d 12 2 ) ;
u 2 = v 0 + ( x 1 - x 2 ) ( | | x 1 - x 2 | | 2 - d 12 2 ) ;
Wherein, x1Represent the position vector of the 1st unmanned plane under himself inertia plane coordinate system, logicalNormal is the origin of coordinates; x2Represent the position vector of the 2nd unmanned plane under himself inertia plane coordinate system;||x2-x1|| be the Euclidean distance between the 2nd unmanned plane and the 1st unmanned plane; || x1-x2|| be the 1stEuclidean distance between frame unmanned plane and the 2nd unmanned plane; d12Be the 1st unmanned plane and the 2ndDistance between unmanned plane, normally given with the form of constant; v0While stablizing for formation, unmanned planeDesired motion velocity vector; u1Represent the desired speed of the 1st unmanned plane with respect to self inertia coordinate systemVector controlled quentity controlled variable, u2Represent the desired speed vector control of the 2nd unmanned plane with respect to self inertia coordinate systemAmount processed.
Continue 3rd～20 unmanned planes to carry out in order distributed formation control, the 3rd unmanned plane initiativelyObtain the 1st unmanned plane and the relative position information of the 2nd unmanned plane under self inertia coordinate system, logicalCross distributed control algolithm and calculate the desired speed of the 3rd unmanned plane, make the 3rd thereby carry out speed controlFrame unmanned plane is to keeping given distance between the 1st unmanned plane and the 2nd unmanned plane, as shown in Figure 3.
Calculate the method for the desired speed of the 3rd unmanned plane:
θ 3 ′ = ( x 1 - x 3 ) ( | | x 1 - x 3 | | 2 - d 13 2 ) + ( x 2 - x 3 ) ( | | x 2 - x 3 | | 2 - d 23 2 ) ;
u 3 = θ 3 + ( x 1 - x 3 ) ( | | x 1 - x 3 | | 2 - d 13 2 ) + ( x 2 - x 3 ) ( | | x 2 - x 3 | | 2 - d 23 2 ) ;
Wherein, x2Be the position of the 2nd unmanned plane in the 3rd unmanned plane self inertia plane coordinate systemVector measurement value, x1Be the position of the 1st unmanned plane in the 3rd unmanned plane self inertia plane coordinate systemPut vector measurement value, x3Be the position vector of the 3rd unmanned plane in self inertia plane coordinate system;||x1-x3|| be the Euclidean distance between the 1st unmanned plane and the 3rd unmanned plane; || x2-x3|| be the 2ndEuclidean distance between frame unmanned plane and the 3rd unmanned plane; d23Be that the 2nd unmanned plane expected and theThe distance keeping between 3 unmanned planes, d13Be that the 1st unmanned plane expected to protect between the 3rd unmanned planeThe distance of holding, conventionally given with constant form; θ3For the required intermediate quantity of algorithm design, θ3' establish for algorithmThe derivative of counting required intermediate quantity, its physical meaning is: when system reaches while stablizing, θ3Level off to unmannedMachine desired speed vector v0；u3Be the 3rd unmanned plane with respect to the desired speed of self inertia coordinate system toAmount controlled quentity controlled variable.
And between front 3 unmanned planes, given distance need to meet the following conditions:
d12＜d13+d23；
d13＜d12+d23；
d23＜d12+d13。
Other unmanned planes carry out distributed formation control by identical method, and system reaches while stablizing and forms threeDihedral chain is formed into columns, as shown in Figure 5, finally between them, keep being given as 8 distance with speed (1,1) motion.

Claims (9)

1. the distributed formation control method of multiple no-manned plane, is characterized in that, comprises the steps:
1) in predeterminable area, dispose n frame unmanned plane, the integer that n is n >=3; Described unmanned plane canThe relative position information of active obtaining neighbours unmanned plane under self inertia coordinate system;
2) the 1st unmanned plane and the 2nd unmanned plane difference active obtaining the other side are under self inertia coordinate systemRelative position information, calculate the 1st unmanned plane and the 2nd unmanned plane by distributed control algolithmDesired speed, makes the 1st unmanned plane and the 2nd unmanned plane keep given distance thereby carry out speed controlFrom;
3) by number 3rd～n frame unmanned plane is carried out to formation control, i frame unmanned plane active obtaining i-1Frame unmanned plane and the relative position information of i-2 frame unmanned plane under self inertia coordinate system, by distributedControl algolithm is calculated the desired speed of i frame unmanned plane, makes i frame unmanned plane pair thereby carry out speed controlBetween i-1 frame unmanned plane and i-2 frame unmanned plane, keep given distance, system reaches while stablizing and formsTriangle chain is formed into columns.
2. the distributed formation control method of multiple no-manned plane according to claim 1, is characterized in that,The built-in laser scanner of described unmanned plane, laser scanner can obtain neighbours' unmanned plane in self inertiaRelative position information under coordinate system, described relative position information is relative distance and relative angle.
3. the distributed formation control method of multiple no-manned plane according to claim 2, is characterized in that,Described unmanned plane, according to control cycle 0.05～0.15s, passes through the utmost point by described relative distance and relative angleCoordinate Conversion becomes vector.
4. the distributed formation control method of multiple no-manned plane according to claim 1, is characterized in that,Described predeterminable area is horizontal plane.
5. the distributed formation control method of multiple no-manned plane according to claim 4, is characterized in that,Described unmanned plane meets following motion model in horizontal plane:
x′i＝ui,i＝1,2,…,n；
The integer that wherein n is n >=3, xiFor the position vector of unmanned plane in horizontal plane, x 'iFor unmanned planeThe derivative of the position vector in horizontal plane, uiFor unmanned plane is at the velocity vector of horizontal in-plane moving.
6. the distributed formation control method of multiple no-manned plane according to claim 1 or 5, its feature existsIn, described step 2) in calculate the method for the desired speed of the 1st unmanned plane and the 2nd unmanned plane:
u 1 = v 0 + ( x 2 - x 1 ) ( | | x 2 - x 1 | | 2 - d 12 2 ) ;
u 2 = v 0 + ( x 1 - x 2 ) ( | | x 1 - x 2 | | 2 - d 12 2 ) ;
Wherein, x1Represent the position vector of the 1st unmanned plane under himself inertia plane coordinate system, logicalNormal is the origin of coordinates; x2Represent the position vector of the 2nd unmanned plane under himself inertia plane coordinate system;||x2-x1|| be the Euclidean distance between the 2nd unmanned plane and the 1st unmanned plane; || x1-x2|| be the 1stEuclidean distance between frame unmanned plane and the 2nd unmanned plane; d12Be the 1st unmanned plane and the 2ndDistance between unmanned plane, normally given with the form of constant; v0While stablizing for formation, unmanned planeDesired motion velocity vector; u1Represent the desired speed of the 1st unmanned plane with respect to self inertia coordinate systemVector controlled quentity controlled variable, u2Represent the desired speed vector control of the 2nd unmanned plane with respect to self inertia coordinate systemAmount processed.
7. the distributed formation control method of multiple no-manned plane according to claim 1 or 5, its feature existsIn, described step 3) in calculate the method for the desired speed of i frame unmanned plane:
θ i ′ = ( x i - 2 - x i ) ( | | x i - 2 - x i | | 2 - d ( i - 2 ) i 2 ) + ( x i - 1 - x i ) ( | | x i - 1 - x i | | 2 - d ( i - 1 ) i 2 ) ;
u i = θ i + ( x i - 2 - x i ) ( | | x i - 2 - x i | | 2 - d ( i - 2 ) i 2 ) + ( x i - 1 - x i ) ( | | x i - 1 - x i | | 2 - d ( i - 1 ) i 2 ) ;
Wherein, xi-1Be the position of i-1 frame unmanned plane in i frame unmanned plane self inertia plane coordinate systemVector measurement value, xi-2Be the position of i-2 frame unmanned plane in i frame unmanned plane self inertia plane coordinate systemPut vector measurement value, xiBe the position vector of i frame unmanned plane in self inertia plane coordinate system;||xi-2-xi|| be the Euclidean distance between i-2 frame unmanned plane and i frame unmanned plane; || xi-1-xi|| forEuclidean distance between i-1 frame unmanned plane and i frame unmanned plane; d(i-1)iIt is the i frame unmanned plane phaseHope the distance keeping between i-1 frame unmanned plane, d(i-2)iBe i frame unmanned plane expect with i-2 frame withoutThe distance keeping between man-machine, conventionally given with constant form; θiFor the required intermediate quantity of algorithm design, θ 'iFor the derivative of the required intermediate quantity of algorithm design, its physical meaning is: when system reaches while stablizing, and θiConvergenceIn unmanned plane desired speed vector v0；uiBe the expectation speed of i frame unmanned plane with respect to self inertia coordinate systemSpend vectorial controlled quentity controlled variable.
8. the distributed formation control method of multiple no-manned plane according to claim 1, is characterized in that,Described step 3) in i frame unmanned plane to keeping giving between i-1 frame unmanned plane and i-2 frame unmanned planeFixed distance is respectively d(i-1)iAnd d(i-2)i, the distance between i-1 frame unmanned plane and i-2 frame unmanned plane isd(i-1)(i-2), described given distance need to meet the following conditions:
d(i-1)(i-2)＜d(i-2)i+d(i-1)i；
d(i-2)i＜d(i-1)(i-2)+d(i-1)i；
d(i-1)i＜d(i-1)(i-2)+d(i-2)i。
9. the distributed formation control method of multiple no-manned plane according to claim 1, is characterized in that,The desired speed of described unmanned plane carries out saturated restriction, and maximal rate can not exceed unmanned plane selfLarge speed.
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