CN106125760A - Unmanned plane formation path automatic planning and device - Google Patents
Unmanned plane formation path automatic planning and device Download PDFInfo
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Abstract
The invention provides a kind of unmanned plane formation path automatic planning and device.Described method includes: group of planes Route Planning Data and the group of planes formation of each frame unmanned plane whole formation of loading in unmanned plane formation describe data, the group of planes Route Planning Data of described whole formation is: unmanned plane is formed into columns as an entirety, for the travel track data of the predetermined point planning in the formation of this entirety composition；Described group of planes formation describes data including at least unmanned plane quantity and the position coordinate data of each the most described predetermined point of frame unmanned plane in described formation；Described each frame unmanned plane describes data according to group of planes Route Planning Data and the group of planes formation of described whole formation, uses swarm intelligence algorithm based on repulsion gravity model to carry out the real-time path planning of self.The real-time route of unmanned plane self is planned and is carried out Distributed Design by the present invention, saves center calculation resource, and algorithm complex not increasing and rise with formation member quantity.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more specifically, embodiments of the present invention relate to a kind of unmanned plane and form into columns
Path automatic planning and device.
Background technology
This part is it is intended that the embodiments of the present invention stated in claims provide background or context.Herein
Describe not because being included in this part just recognize it is prior art.
At present, unmanned plane formation path planning uses the centralized planning of off-line mostly.Off-line type law of planning is to fly
Row pre-task, the line of flight of every frame unmanned plane in precalculated aerial mission, owing to operation time is abundant, can obtain
To the preferable line of flight.But inventor finds in implementing process of the present invention, at least there is following lacking in this centralized planning
Fall into:
1, real-time is not strong, it is low to update efficiency, and owing to site environment is real-time change, the flight path of segregation reasons means
Passage may become non-optimal and even cannot perform, such as when running into flight environment of vehicle and changing over time, it is impossible in time
Respond, adjust course line.
2, the centralized planning, is that to utilize global information be that every frame unmanned plane independently provides program results, at unmanned plane number
When measuring numerous, computing pressure exponentially goes up, and is unfavorable for system scale.
Summary of the invention
The main purpose of the embodiment of the present invention is to propose path automatic planning and the device that a kind of unmanned plane is formed into columns,
To solve present in unmanned plane formation path planning, real-time is strong, update the problem that efficiency is low and computing pressure is big.
In order to achieve the above object, the embodiment of the present invention provides a kind of unmanned plane formation path automatic planning, including:
Group of planes Route Planning Data and the group of planes formation of each frame unmanned plane whole formation of loading in unmanned plane formation are retouched
Stating data, the group of planes Route Planning Data of described whole formation is: unmanned plane is formed into columns as an entirety, for this entirety composition
The travel track data of the predetermined point planning in formation；Described group of planes formation describes data including at least unmanned plane in described formation
Quantity and the position coordinate data of each the most described predetermined point of frame unmanned plane；Described each frame unmanned plane is according to described whole
Group of planes Route Planning Data and the group of planes formation formed into columns describe data, use swarm intelligence algorithm based on repulsion-gravity model to enter
The path planning of self that row is real-time.
In order to achieve the above object, the embodiment of the present invention also provides for the automatic device for planning in a kind of unmanned plane formation path, bag
Include: data load-on module, describe data for the group of planes Route Planning Data and group of planes formation loading whole formation, described whole
The group of planes Route Planning Data formed into columns is: unmanned plane is formed into columns as an entirety, for the predetermined point in the formation of this entirety composition
The travel track data of planning；Described group of planes formation describes data including at least unmanned plane quantity and each frame in described formation
The position coordinate data of the most described predetermined point of unmanned plane；Planning module in real time, for the group of planes road according to described whole formation
Footpath layout data and group of planes formation describe data, use swarm intelligence algorithm based on repulsion-gravity model to carry out real-time self
Path planning.
The unmanned plane formation path automatic planning of the embodiment of the present invention and device, it is whole that each frame unmanned plane loads
The group of planes Route Planning Data formed into columns and group of planes formation describe the layout data that the whole unmanned plane that data are segregation reasons is formed into columns,
Every frame unmanned plane carries out the planning of self online route based on these segregation reasons data, it is proposed that a kind of segregation reasons and
The double-deck level law of planning combined planned by line.The method has the most coarse rear fine calculation features, and ground floor inherits the overall situation
The advantage of planning, the second layer solves the problem that scene change cannot be adapted to by conventional offline law of planning.In view of unmanned aerial vehicle group
The congenital feature possessing Distributed Calculation, carries out Distributed Design to online planning problem, takes full advantage of unmanned plane self fortune
Calculation ability, saves center calculation resource, for forming a team on a large scale to create possibility.And, it is achieved formation keeps, formation converts,
Problem the solving under Unified Algorithm framework such as formation avoidance, it is to avoid the Model Design that traditional method is numerous and complicated, more versatility,
And algorithm complex not increasing and rise with formation member quantity.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those skilled in the art, on the premise of not paying creative work, it is also possible to root
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the process chart of the unmanned plane formation path automatic planning of the embodiment of the present invention；
Fig. 2 is that the unmanned plane of the embodiment of the present invention uses swarm intelligence algorithm based on repulsion-gravity model to carry out real-time
The method flow diagram of the path planning of self；
Fig. 3 is the method flow diagram calculating gravitation suffered by unmanned plane of the embodiment of the present invention；
Fig. 4 is the method flow diagram calculating repulsion suffered by unmanned plane of the embodiment of the present invention；
Fig. 5 illustrates the stressing conditions when not having barrier in the calculating radius of unmanned plane of the embodiment of the present invention；
Fig. 6 illustrates the stressing conditions when occurring barrier in the calculating radius of unmanned plane of the embodiment of the present invention；
Fig. 7 is the process chart of the unmanned plane formation path automatic planning of another embodiment of the present invention；
Fig. 8 is the complete process flow figure of the online planing method of route of the unmanned plane execution of the embodiment of the present invention；
Fig. 9 is the structural representation of the automatic device for planning in unmanned plane formation path of the embodiment of the present invention；
Figure 10 is the structural representation of the real-time planning module 12 of the embodiment of the present invention；
Figure 11 is the structural representation that the stress of the embodiment of the present invention determines module 121；
Figure 12 is the structural representation that the gravitation of the embodiment of the present invention determines unit 1211；
Figure 13 is the structural representation that the repulsion of the embodiment of the present invention determines unit 1212；
Figure 14 is the structural representation of the real-time planning module 12 of another embodiment of the present invention；
Figure 15 is the formation formation schematic diagram of the accessible situation of the present invention one specific embodiment；
Figure 16 is that the right side of embodiment illustrated in fig. 15 barrier and first round power synthesis computing schematic diagram occurs；
Figure 17 is that the right side of embodiment illustrated in fig. 15 occurs that barrier and second takes turns power synthesis computing schematic diagram；
Figure 18 is that the right side of embodiment illustrated in fig. 15 barrier and third round power synthesis computing schematic diagram occurs；
Figure 19 is that the right side of embodiment illustrated in fig. 15 barrier and fourth round power synthesis computing schematic diagram occurs；
Figure 20 is that the right side of embodiment illustrated in fig. 15 occurs that barrier and the 5th takes turns power synthesis computing schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Art technology skilled artisan knows that, embodiments of the present invention can be implemented as a kind of system, device, equipment,
Method or computer program.Therefore, the disclosure can be to be implemented as following form, it may be assumed that hardware, the softest completely
Part (includes firmware, resident software, microcode etc.), or the form that hardware and software combines.
Principle and spirit below with reference to some representative embodiments of the present invention, in detail the explaination present invention.
The present invention is divided into two subproblems whole path planning problem and solves: segregation reasons problem and online planning
Problem.On the whole, be that top down method combines with bottom up approach, off-line with combine online, first thick after the planning of essence
Method.Wherein, segregation reasons has been responsible for the pre-flight overall flight path planning formed into columns, and it is characterized by: off-line, coarse
, entire team；Online planning can be calculated by the MPU of every frame unmanned plane, has been responsible for the real time position of unmanned plane self
Planning and adjusting, is characterized by: real-time, fine, unit.
For overall path planning, the embodiment of the present application can use heuritic approach (such as A* algorithm), is first a group of planes
Cook up coarse off-line path.This path is the reference source of group of planes action, and non-final implementation path, and Actual path is dynamic
When state is planned in real time, it is modified.The meaning in off-line path is, overall assurance path planning, makes full use of global information, fall
The optimizing difficulty of low active path planning.
For active path planning, the embodiment of the present application devises dcs and instead of original centralized Control
System, the shortcoming solving segregation reasons flight path.Distributed planning method, owing to can be assigned to each nothing planning computing pressure
In man-machine each timeslice, the problem that real-time is the best can be prevented effectively from；And planning algorithm computational complexity is with unmanned
Machine number increase is even not increase with linearly increasing, system is not connected quantity and is construed as limiting.Path planning computing
Share on the MPU of every unmanned plane, make computing pressure not increase with unmanned plane quantity.In view of unmanned plane formation keep and
In avoidance problem, introduce swarm intelligence algorithm based on gravitation-repulsion, unmanned aerial vehicle vision be simultaneously by destination locations gravitation and
The electric charge of barrier repulsion effect, utilizes Vector modulation to determine the path of single unmanned plane.Whole unmanned aerial vehicle group often walks one and takes turns repeatedly
Generation, dynamically in achieve the Coordination by planning between each machine, it is to avoid conflict, thus realize total tune.
Fig. 1 is the process chart of the unmanned plane formation path automatic planning of the embodiment of the present invention.As it is shown in figure 1,
Including:
Step S101, each frame unmanned plane in unmanned plane formation loads group of planes Route Planning Data and the machine of whole formation
Group's formation describes data, and the group of planes Route Planning Data of described whole formation is: unmanned plane is formed into columns as an entirety, whole for this
The travel track data of the predetermined point planning in the formation of body composition；Described group of planes formation describes data including at least described formation
Middle unmanned plane quantity and the position coordinate data of each the most described predetermined point of frame unmanned plane；
Step S102, described each frame unmanned plane is according to the group of planes Route Planning Data of described whole formation and group of planes formation
Describe data, use swarm intelligence algorithm based on repulsion-gravity model to carry out the real-time path planning of self.
By the embodiment of Fig. 1, it can be seen that the pressure of planning computing is assigned to each of each unmanned plane by the present invention
In timeslice, effectively prevent the problem that real-time is the best.The group of planes Route Planning Data of whole formation and group of planes formation describe
Data can be generated by off-line, such as, can be completed by control server, and this segregation reasons is only responsible for calculating overall road of forming into columns
Footpath is planned, the path planning problem of every frame unmanned plane in being not related to form into columns；After formation path planning file calculates, logical
Cross the communication link established, on the every frame unmanned plane being loaded in formation；When every frame unmanned plane possesses takeoff condition, perform
Plan part online, and according to online program results, perform aerial mission.
In the present embodiment, the group of planes Route Planning Data of described whole formation is: unmanned plane is formed into columns as an entirety,
Travel track data for the predetermined point planning in the formation of this entirety composition；Described group of planes formation describes data including at least institute
State unmanned plane quantity and the position coordinate data of each the most described predetermined point of frame unmanned plane in formation.
It should be explicitly made clear at this point, " predetermined point in formation " pointed in the embodiment of the present invention can be unmanned plane formation group
The battle array heart position of the formation become, the geometric center of all unmanned planes that the battle array heart is in formation formation.Certainly, the embodiment of the present application
It is not limited thereto.
(1) use the path of A* algorithm search Least-cost, generate the group of planes Route Planning Data of whole formation.Wherein,
Described group of planes Route Planning Data includes the predetermined point in total flight time, frame per second and the formation formation that described unmanned plane is formed into columns
Travel track data.In embodiments of the present invention, using heuristic A * algorithm to obtain group of planes Route Planning Data, it is thought substantially
Think be, the path that search cost is minimum.A* (A-Star) algorithm is that to solve shortest path in a kind of static road network maximally effective directly
Connect searching method.
Group of planes Route Planning Data is that time-space describes data, and the minimum time unit of description is frame, and each frame is by one
Individual spatial point (X, Y, Z) or (longitude, latitude, highly) with attitude (yaw, pitch, roll) represent.By between the appointment time
Every, it is determined that the path locus of whole unmanned plane formation and the speed of execution.
As follows, group of planes Route Planning Data be initially total time, frame per second, the second row is actual path data backward
The travel track data of the predetermined point in formation formation (this track data be), every frame contains 6 variablees, separates with comma, frame
Between separate with branch:
total_time,FPS
x1,y1,z1,yaw1,pitch1,roll1；x2,y2,z2,yaw2,pitch2,roll2；…,xn,yn,zn,yawn,
pitchn,rolln；
(2) described group of planes formation describes data including at least unmanned plane quantity and each frame unmanned plane phase in described formation
Position coordinate data to described predetermined point.
Concrete, it is to be cartesian coordinate system center with the battle array heart (predetermined point) that group of planes formation describes data, generates a group of planes and sits
Mark system, then describes self coordinate and the battle array heart side-play amount of every frame unmanned plane under this group of planes coordinate system.As follows, the first row
The quantity of the unmanned plane in description unmanned plane formation, second walks to N+1 line description every frame unmanned plane under group of planes coordinate system
Position and attitude:
Num
ID1,x1,y1,z1,yaw1,pitch1,roll1
…
IDn,xn,yn,zn,yawn,pitchn,rolln
Such as, from the point of view of there is the wedge shape formation figure of 6 frame unmanned planes, can set its group of planes formation describe data as:
6
1,0,1,0,0,0,0
2 ,-1,0,0,0,0,0
3,1,0,0,0,0,0
4 ,-2 ,-1,0,0,0,0
5,0 ,-1,0,0,0,0
6,2 ,-1,0,0,0,0
From the point of view of there is the hexagonal ring system of battle formations of 6 frame unmanned planes, can set its group of planes formation describe data as:
6
1,2,0,0,90,0,0
2,1.41,0.5,0,60,0,0
3,1.41 ,-0.5,0 ,-60,0,0
4 ,-2,0,0 ,-90,0,0
5 ,-1.41 ,-0.5,0 ,-120,0,0
6 ,-1.41,0.5,0,120,0,0
When being embodied as, in step s 102, described each frame unmanned plane is advised according to the group of planes path of described whole formation
Draw data and group of planes formation describes data, use swarm intelligence algorithm based on repulsion-gravity model to carry out the real-time road of self
Footpath is planned, as in figure 2 it is shown, include:
Step S1021, determines the size of the gravitation Fa that unmanned plane described in present frame is subject to and direction and the repulsion Fr being subject toi
Size and direction；
Step S1022, by described gravitation Fa and repulsion FriCarry out Vector modulation, obtain size with joint efforts and direction；
Step S1023, is defined as, by the described direction made a concerted effort, the object traveling direction that described unmanned plane is current, and
Step S1024, determines the displacement s of unmanned plane according to the described size made a concerted effort.
In step S102 of the present embodiment, every frame unmanned plane carries out real-time online planning, and its task is to advise at off-line
On the basis of Huaing, treatment in accordance with local conditions ground adjusts position, the local state of the machine, and final path implement path avoidance and formation can be made to protect
Hold the balance of the two.
Unmanned plane carries out the method for own path planning and can be regarded as a kind of swarm intelligence algorithm, and it is to have only to local
The algorithm that information and a small amount of rule achieve that.The group of planes Route Planning Data of the whole formation loaded in step S101 and a group of planes
Formation describes to be shared between data unmanned plane in formation, and every frame unmanned plane is only responsible for self behavior, not to other unit
It is controlled.
In step S1021, swarm intelligence algorithm based on repulsion-gravity model is utilized to calculate drawing of being subject to of every frame unmanned plane
Power Fa and repulsion FriSize and Orientation.This algorithm model be every frame unmanned plane face simultaneously barrier (include friend machine, enemy plane,
Mountain peaks etc. are considered as repulsion) and the common effect of destination (being considered as gravitation), repulsion and the resultant direction of gravitation and size determine nothing
Next step man-machine countermeasures, formula is as follows:
v∝∑Fri+Fa；
Wherein, FriThe repulsion that unmanned plane in forming into columns for described unmanned plane is subject to, Fa is the gravitation that this unmanned plane is subject to, v
For the target velocity of this unmanned plane, comprising size and Orientation, " ∝ " is direct ratio symbol, represents that the size of v is proportional to FriWith Fa's
The size made a concerted effort.
Its implementation is specific as follows:
(1) gravitation Fa suffered by unmanned plane is calculated
From described above, the group of planes Route Planning Data of described whole formation includes that described predetermined point flies default
The travel track data of each frame in the row time, including following variable: x, y, z, yaw, pitch, roll, the corresponding tool of each frame
Body time t, described variable x, y, z are the position coordinate data of predetermined point, then predetermined point in described group of planes Route Planning Data
Position coordinate data at time t is represented by FCoffline(Xfc,Yfc,Zfc, t), determine what unmanned plane described in present frame was subject to
The size of gravitation Fa and direction, as it is shown on figure 3, concrete steps include:
Step S10211, position coordinate data X on the line of all unmanned planes in acquisition present frame unmanned plane formationt(x,y,
z)；
Step S10212, according to position coordinate data on the line of all unmanned planes of present frame, determine present frame institute with or without
Position coordinate data FC on the line of predetermined point described in the formation of man-machine compositiononline(Xfc,Yfc,Zfc,t)；
Step S10213, determines speed V of predetermined point described in present frame according to described group of planes Route Planning DataFC；
Step S10214, according to speed V of predetermined point described in present frameFC, described predetermined point exists to utilize equation below to determine
Intended position coordinate data FCo on the line of next framenline(Xfc,Yfc,Zfc,t+1)；
Step S10215, describes according to described predetermined point intended position coordinate data and group of planes formation on the line of next frame
The position coordinate data of the most described predetermined point of unmanned plane in data, determines intended position coordinate number on the line of next frame unmanned plane
According to Xt+1(x,y,z)；
Step S10216, according to intended position coordinate data X on described linet+1(x, y, z) with current position coordinates data Xt
(x, y z) determine the size of the gravitation Fa that unmanned plane is subject to, Fa=k1*||Xt+1-Xt| |, k1For proportionality coefficient.Real in the application
Execute in example, k1Span be under-0.1～10.0, general scenario, to be defaulted as 1.0, numerical value is the biggest, represent unmanned plane adjustment
Speed is the fastest.
Step S10217, is defined as, by the direction that desired location is pointed in unmanned plane current location, the gravitation Fa that unmanned plane is subject to
Direction.
On described line, position coordinate data is unmanned plane actual position coordinate data in performing task process.One
Planting in specific embodiment, the position coordinate data of described unmanned plane can be obtained by optics motion capture system location, should
Optics motion capture system includes multiple optics motion capture equipment and processor.The plurality of optics motion capture equipment is arranged
In the designated movement region of unmanned plane, may be used for obtaining from different directions the image of unmanned plane, so that the process of alignment system
Described unmanned plane is positioned by device based on described image.Wherein, described unmanned plane proper motion in designated movement region
In the case of, image can be got by least two optics motion capture equipment.It is provided with at least three on the surface of unmanned plane
Labelling point, is arranged at the labelling on unmanned plane surface and presses different arrangement mode arrangement, and the labelling point of unmanned plane is respectively provided with uniquely
Arrangement mode.At least three labelling point on the surface of this unmanned plane is the labelling point that its imaging can be identified by processor.Place
Reason device receives at least two width images of the labelling point including unmanned plane that multiple optics motion capture equipment obtain, and at least two
Labelling point in width image processes, it is thus achieved that the coordinate data of labelling point.
By being embodied as step above it can be seen that according to the unmanned plane of the desired location of next frame unmanned plane with present frame
Position calculation gravitation, the unmanned plane position of present frame can directly obtain, and the desired location of the unmanned plane of next frame can be led to
Cross the predetermined point position of next frame to describe the position coordinate data of the relative described predetermined point of unmanned plane in data with group of planes formation and obtain
Arrive.
Owing to the calculating of each predetermined point position coordinate data comes from the current location of all unmanned planes during unmanned plane is formed into columns
Coordinate data, so the change of unmanned plane position just influences whether the change of predetermined point, and then other are single to have impact on whole formation
The change of unit's track, and this change is for being small from the point of view of segregation reasons path and local, when unmanned plane is by obstacle
The impact of thing and create horizontal speed, and these horizontal displacements, formation can't be affected and finally goes to destination.
In step S10214, when having unmanned plane to run into outer barrie in forming into columns, processing procedure uses increment type meter
Calculating predetermined point position, incremental portion is the predetermined point determining present frame according to the group of planes Route Planning Data loaded in step S101
Speed VFC；And unmanned plane is not when running into barrier, predetermined point position directly uses the coordinate of group of planes Route Planning Data to compose
Value.The position of the relative described predetermined point of unmanned plane in data is described with group of planes formation according to the predetermined point coordinate of the next frame obtained
Coordinate data, can solve the position that the expectation of every frame unmanned plane exists.
(2) repulsion Fr suffered by unmanned plane is calculatedi
In the embodiment of the present invention, step S1021 also determines that the repulsion Fr that unmanned plane described in present frame is subject toiSize and
Direction, as shown in Figure 4, concrete steps include:
Step S10218, obtains the present frame all barriers in the range of described unmanned plane pre-set radius R；
Step S10219, determine described each barrier to the size of the repulsion of described unmanned plane and direction, wherein, described
The size of the repulsion of described unmanned plane is inversely proportional to the distance of described unmanned plane by each barrier with described barrier, and direction is
Barrier points to the direction of described unmanned plane；
All barriers are carried out Vector modulation to the repulsion of described unmanned plane, scolding after being synthesized by step S10210
Power is made a concerted effort FriSize and direction, as the size and Orientation of the repulsion that described unmanned plane present frame is subject to.
The influence factor in periphery region only need to be considered, so calculating radius by setting one due to each unmanned plane
R, determines to participate in the factor that computing repulsion is made a concerted effort.Such as: for distance objective repulsion point too far, be negligible.As
This design effectively controls operand, and have ignored the environmental variable for the machine low correlation.Further, barrier is calculated
Distance d of distance the machinei, then compare diWith the relation of calculating radius R, for the barrier less than R, just carry out the meter of repulsion
Calculate.
Referring to Fig. 5 and Fig. 6, respectively illustrate the stress feelings when not having barrier in calculating radius and barrier occurring
Condition.In Fig. 5, not having barrier to occur in the calculating radius R of the unmanned plane of numbered #1, next step position of unmanned plane is empty
Line position.When barrier (square) occurring in calculating radius R, it is barrier and unmanned plane line side referring to Fig. 6, Fr direction
To, Fr size is the inverse ratio of distance.Fa size is the line direction currently without man-machine position Yu next frame unmanned plane position, size
It it is the direct ratio of distance.F is the Vector modulation direction of Fr Yu Fa, illustrates the position that actual unmanned plane next frame should go.
In step S1024, the size made a concerted effort described in described basis determines the displacement s of unmanned plane, including: described unmanned
The displacement s of machine is directly proportional to the described F that makes a concerted effort.
As it is shown in fig. 7, after step S1024 determines the displacement s of unmanned plane according to the described size made a concerted effort, it is also possible to bag
Include step S1025, determine the speed v of unmanned plane according to the displacement s of described unmanned plane,Δ t be adjacent two frames time
Between poor.
Fig. 8 is the complete process flow figure of the online planing method of route of the unmanned plane execution of the embodiment of the present invention.This reality
Execute example by described predetermined point for illustrating as a example by the battle array heart.
Step S801, according to the position of all unmanned planes of present frame, calculates the battle array heart position FC of present frameonline(Xfc,
Yfc,Zfc,t).When being embodied as, the geometric center of all unmanned planes in the usually formation of battle array heart position, it may be assumed that
Step S802, according to the group of planes Route Planning Data loaded, calculates battle array heart speed VFC:
VFC=FCoffline(Xfc,Yfc,Zfc,t+1)-FCoffline(Xfc,Yfc,Zfc, t), FCoffline(Xfc,Yfc,Zfc, t) be
The position coordinate data of the battle array heart of the t in described group of planes Route Planning Data, FCoffline(Xfc,Yfc,Zfc, t+1) and it is institute
State the position coordinate data of the battle array heart in t+1 moment in group of planes Route Planning Data.
Step S803, calculates the intended battle array heart position coordinates of next frame
It is to say, when having unmanned plane to run into outer barrie in forming into columns, processing procedure uses battle array heart position expected from incremental computation
Putting, incremental portion is the formation speed calculating according to group of planes Route Planning Data in step S402 and obtaining；And unmanned plane does not has
When running into barrier, battle array heart position directly uses the coordinate assignment of group of planes Route Planning Data.
Step S804, according to the battle array heart formed into columns at the intended battle array heart position coordinates FC of next frameonlineAnd a group of planes (t+1)
Formation describes unmanned plane in data and is poised for battle the position coordinate data of the heart mutually, determines the intended position coordinate data of next frame unmanned plane
Xt+1(x,y,z).That is: Xt+1(x, y, z)=FConline(t+1)+Xoffset(x,y,z)；Wherein, Xt+1(x, y are z) that unmanned plane is at t
The expectation coordinate in+1 moment, FConline(t+1) it is the intended battle array heart coordinate in t+1 moment, XoffsetFor group of planes formation, data are described
In this unmanned plane be poised for battle the position coordinate data of the heart mutually.
Step S805, according to described expection coordinate Xt+1(x, y, z) with current location Xt(x, y z) calculate gravitation Fa, Fa=
k1*||Xt+1(x,y,z)-Xt(x, y, z) | |, k1For proportionality coefficient.
Step S806, calculates the target range matrix D of unmanned plane periphery, and its element is i.e. currently without man-machine position and other weeks
Distance d of limit object (unmanned plane or barrier)i=| | Xt-Xi| |, wherein XtFor the position coordinates of unmanned plane, XiFor periphery object
Position coordinates.
Step S807, calculates repulsion matrix F r, its element Fr by target range matrix DiPass through diCalculate,
k2It it is proportionality coefficient.
Step S808, according to calculating radius R and target range matrix D, statistics is at the effective Fr of R scopei, generate effective
Repulsion is made a concerted effort ∑ Fri；
Step S809, make a concerted effort ∑ Fr to effective repulsioniCarry out Vector modulation computing with gravitation Fa and generate F, F=∑ of making a concerted effort
Fri+Fa；
Step S810, according to F with joint efforts, makes unmanned plane move certain displacement vector s, and direction of displacement is with F direction, displacement size
It is directly proportional to F: s=k3* F, k3For proportionality coefficient；
Step S811, calculates the velocity vector of unmanned plane according to displacement phasor sΔ t is the time of before and after two frame
Difference；
Step S812, according to displacement s and speed v, sends with described speed v to the control command of described F direction displacement s；
Step S813, repeats step S801-S812, until completing the path locus of the whole formation of segregation reasons.
Wherein, step S801-805 is to calculate the method step of gravitation, and step S806-808 is the method step calculating repulsion
Suddenly, but, the present invention is not limiting as the execution sequence of step S801-805 and step S806-808, it is also possible to first calculate repulsion,
Calculate gravitation again.
Can draw from the processing method shown in Fig. 8, online planing method the most also uses a loop iteration
Algorithm, is performed by continuous iteration, it is achieved overall optimizing effect, but for single unmanned plane, often step execution is only concerned one
Frame and the displacement of present frame.
Although it should be noted that, describe the operation of the inventive method in the accompanying drawings with particular order, but, this does not requires that
Or hint must perform these operations according to this particular order, or having to carry out the most shown operation could realize the phase
The result hoped.Additionally or alternatively, it is convenient to omit some step, multiple steps are merged into a step and performs, and/or will
One step is decomposed into multiple step and performs.
After the method describing exemplary embodiment of the invention, it follows that with reference to Fig. 5 reality exemplary to the present invention
The automatic device for planning in unmanned plane formation path executing mode is introduced.The enforcement of this device may refer to the reality of said method
Execute, repeat no more in place of repetition.Term used below " module " and " unit ", can be the software realizing predetermined function
And/or hardware.Although the module described by following example preferably realizes with software, but hardware, or software is with hard
The realization of the combination of part also may and be contemplated.
Fig. 9 is the structural representation of the automatic device for planning in unmanned plane formation path of the embodiment of the present invention, including:
Data load-on module 11, describes data for the group of planes Route Planning Data and group of planes formation loading whole formation,
The group of planes Route Planning Data of described whole formation is: unmanned plane is formed into columns as an entirety, in the formation for this entirety composition
Predetermined point planning travel track data；Described group of planes formation describe data including at least unmanned plane quantity in described formation with
And the position coordinate data of each the most described predetermined point of frame unmanned plane；Planning module 12 in real time, for according to described whole volume
The group of planes Route Planning Data of team and group of planes formation describe data, use swarm intelligence algorithm based on repulsion-gravity model to carry out
The real-time path planning of self.
In the present embodiment, as shown in Figure 10, described real-time planning module 12 uses gunz based on repulsion-gravity model
The real-time path planning of self can be carried out by algorithm, specifically include:
Stress determines module 121, for determining size and the direction of gravitation Fa that unmanned plane described in present frame is subject to and being subject to
The repulsion Fr arrivediSize and direction；
Stress synthesis module 122, for by described gravitation Fa and repulsion FriCarry out Vector modulation, obtain size with joint efforts
And direction；
Direction determines module 123, for the described direction made a concerted effort is defined as the target traveling side that described unmanned plane is current
To, and
Displacement determines module 124, for determining the displacement s of unmanned plane according to the described size made a concerted effort.
In the present embodiment, as shown in figure 11, described stress determines that module 121 includes that gravitation determines unit 1211 and repulsion
Determining unit 1212, wherein, gravitation determines that unit 1211 is for the size of gravitation Fa that unmanned plane described in present frame is subject to and side
To, repulsion determines the gravitation Fr that unit 1212 is subject to for determining unmanned plane described in present frameiSize and direction.
As shown in figure 12, described gravitation determines that unit 1211 specifically includes:
Unmanned plane coordinate acquiring unit 12111, upper for obtaining the line of all unmanned planes during present frame unmanned plane is formed into columns
Put coordinate data Xt(x,y,z)；
Predetermined point coordinate determines unit 12112, is used for according to position coordinate data on the line of all unmanned planes of present frame,
Determine described in the formation that all unmanned planes of present frame form position coordinate data FCo on the line of predetermined pointnline(Xfc,Yfc,Zfc,
t)；
Predetermined point speed determining unit 12113, for determining described in present frame pre-according to described group of planes Route Planning Data
Speed V of fixed pointFC；
Predetermined point expection coordinate determines unit 12114, for speed V according to predetermined point described in present frameFC, utilize as follows
Formula determines described predetermined point intended position coordinate data FCo on the line of next framenline(Xfc,Yfc,Zfc,t+1)；
Wherein FCoffline
(Xfc,Yfc,Zfc, t+1) and it is the predetermined point that includes of the group of planes Route Planning Data position coordinate data in the t+1 moment.
Unmanned plane expection coordinate determines unit 12115, for according to described predetermined point desired location on the line of next frame
Coordinate data describes the position coordinate data of the relative described predetermined point of unmanned plane in data with group of planes formation, determines that next frame is unmanned
Intended position coordinate data X on the line of machinet+1(x,y,z)；
Gravitation size determines unit 12116, for according to intended position coordinate data X on described linet+1(x, y, z) and work as
Front position coordinate data Xt(x, y z) determine the size of the gravitation Fa that unmanned plane is subject to, Fa=k1*||Xt+1(x,y,z)-Xt(x,
Y, z) | |, k1For proportionality coefficient；
Gravity direction determines unit 12117, is defined as nothing for unmanned plane current location is pointed to the direction of desired location
The direction of the man-machine gravitation Fa being subject to.
In the present embodiment, as shown in figure 13, described repulsion determines that unit 1212 specifically includes:
Obstacle determination unit 12121, for obtaining present frame owning in the range of described unmanned plane pre-set radius R
Barrier；
Repulsion determines unit 12122, for determining that described each barrier is to the size of the repulsion of described unmanned plane and side
To, wherein, the described each barrier distance to the size of the repulsion of described unmanned plane with described barrier to described unmanned plane
Being inversely proportional to, direction is the direction that barrier points to described unmanned plane；
Repulsion synthesis unit 12123, for all barriers are carried out Vector modulation to the repulsion of described unmanned plane, obtains
Repulsion after synthesis is made a concerted effort FriSize and direction, as the size and Orientation of the repulsion that described unmanned plane present frame is subject to.
In the present embodiment, described displacement determines that module 124 determines the displacement of unmanned plane according to the described size made a concerted effort
Amount s specifically includes: the displacement s of described unmanned plane was directly proportional to described making a concerted effort.
In the present embodiment, as shown in figure 14, described real-time planning module 12 also includes:
Speed determining unit 125, for determining the speed v of unmanned plane according to the displacement s of described unmanned plane,
Δ t is the time difference of adjacent two frames.
In the present embodiment, described predetermined point is the battle array heart position of the formation that unmanned plane formation forms.
Although additionally, being referred to some unit moulds of the automatic device for planning in unmanned plane formation path in above-detailed
Block, but this division is the most enforceable.It practice, according to the embodiment of the present invention, above-described two or
The feature of more units and function can embody in a unit.Equally, the feature of an above-described unit and merit
Can also Further Division for be embodied by multiple unit.
Below citing one three frame unmanned plane wedge shape formation under, in the face of barrier time how to utilize the present invention based on
Repulsion-gravity model carries out real-time route adjustment.
First, according to overall situation segregation reasons, learning that whole unmanned plane is formed into columns and fly from south to north, flight speed is a speed
Degree unit, when clear, forms into columns and keeps set formation, as shown in figure 15.Every frame unmanned plane distance exceedes calculating radius, institute
Only receive the effect of Fa with flying unit, now Fa is F with joint efforts.
After barrier enters the calculating reducing of first unmanned plane, as shown in figure 16, it is contemplated that the gravitation Fa that position produces
With barrier (square objects), 1# being produced repulsion Fr and jointly act on 1#, its F that makes a concerted effort makes 1# fly to left side.Other two framves are still
Holding moves ahead.
Calculating the whole battle array heart by current location, the barycenter of the big triangle of i.e. three flying unit compositions is (in figure ten
Word location), on the basis of centroid position, northwards move the displacement that a unit speed produces, dotted line cross as shown in figure 17
Coordinate, is next frame expectation battle array heart position, and three broken line triangle, has marked under expectation formation, the phase of every frame unmanned plane
Hope position.Due to the impact of previous frame, 1# flies out a segment distance to the left, and 2# flies out forward a segment distance, causes the two at this frame
Time, hypotelorism, so 1# while by position traction Fa by thrust Fr of north by east of 2#, F makes it with joint efforts
Surmount desired locations, and 2# is because of the counteracting force by 1#, and not up to desired locations, but northwestward is to flying to.
3#, by desired locations and barrier repulsion, creates a composite force westwards.
Due to the repulsion of 1# and 2#, this time formation is more disperseed, after calculating barycenter, formation toward north stepping again same away from
From, as shown in figure 18.1# is acted on by barrier again, but current direction is close with desired locations direction, and F exceedes the phase with joint efforts
Hope position.2# is not affected by surrounding repulsion, only by gravitation.3#, because the deceleration of barrier result in zooming out of desired locations, causes
Current Fa is made to increase than last round of, and the adjustment that Fa direction is taken turns in the heart because of battle array, also obtain certain westwards moving.Make
It is northwestwards main for obtaining this resultant direction taken turns of 3#, and amplitude is the biggest.
Calculating the battle array heart and setting after constant offset, as shown in figure 19, it can be seen that 1# and 2# is only being affected by Fa, and 3# because of
For be slow down the displacement of advance by composite force always so that Fa is increasing, and 3# more presses close to barrier and also exacerbates the product of Fr
It is raw, so current F makes a concerted effort to become apparent from for a moment than upper.
After the adjustment through above-mentioned 4 frame times, as shown in figure 20, it can be seen that the time of the 5th frame, the most no longer
Impact, whole formation has had moved away from barrier and has moved towards desired location, it is achieved that avoidance and holding formation.
The unmanned plane formation path automatic planning of the embodiment of the present invention and device, it is proposed that a kind of segregation reasons and
Plan the double-deck level law of planning combined online.The method has the most coarse rear fine calculation features, and ground floor inherits entirely
The advantage of office's planning, the second layer solves the problem that scene change cannot be adapted to by conventional offline law of planning.In view of unmanned plane
The congenital feature possessing Distributed Calculation of group, carries out Distributed Design to online planning problem, takes full advantage of unmanned plane self
Operational capability, saves center calculation resource, for forming a team on a large scale to create possibility.And, it is achieved formation keeps, formation becomes
Change, problem the solving under Unified Algorithm framework such as formation avoidance, it is to avoid the Model Design that traditional method is numerous and complicated, the most general
Property, and algorithm complex not increasing and rise with formation member quantity.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of the present invention can use complete hardware embodiment, complete software implementation or combine software and hardware
Execute the form of example.And, the present invention can use at one or more computers wherein including computer usable program code
The upper computer program product implemented of usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.)
The form of product.
The present invention is with reference to method, equipment (system) and the flow process of computer program according to embodiments of the present invention
Figure and/or block diagram describe.It should be understood that can the most first-class by computer program instructions flowchart and/or block diagram
Flow process in journey and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
Instruction arrives the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device to produce
A raw machine so that the instruction performed by the processor of computer or other programmable data processing device is produced for real
The device of the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame now.
These computer program instructions may be alternatively stored in and computer or other programmable data processing device can be guided with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in this computer-readable memory produces and includes referring to
Make the manufacture of device, this command device realize at one flow process of flow chart or multiple flow process and/or one square frame of block diagram or
The function specified in multiple square frames.These computer program instructions also can be loaded into computer or other programmable datas process and set
It is standby upper so that on computer or other programmable devices, execution sequence of operations step is to produce computer implemented process,
Thus the instruction performed on computer or other programmable devices provides for realizing at one flow process of flow chart or multiple stream
The step of the function specified in journey and/or one square frame of block diagram or multiple square frame.
The present invention applies specific embodiment principle and the embodiment of the present invention are set forth, above example
Explanation be only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for one of ordinary skill in the art,
According to the thought of the present invention, the most all will change, in sum, in this specification
Hold and should not be construed as limitation of the present invention.
Claims (14)
1. a unmanned plane formation path automatic planning, it is characterised in that including:
Group of planes Route Planning Data and the group of planes formation of each frame unmanned plane whole formation of loading in unmanned plane formation describe number
According to, the group of planes Route Planning Data of described whole formation is: unmanned plane is formed into columns as an entirety, for the formation of this entirety composition
In predetermined point planning travel track data；Described group of planes formation describes data including at least unmanned plane quantity in described formation
And the position coordinate data of each the most described predetermined point of frame unmanned plane；
Described each frame unmanned plane describes data according to group of planes Route Planning Data and the group of planes formation of described whole formation, uses
Swarm intelligence algorithm based on repulsion-gravity model carries out the real-time path planning of self.
Unmanned plane formation path the most according to claim 1 automatic planning, it is characterised in that described each frame is unmanned
Machine describes data according to group of planes Route Planning Data and the group of planes formation of described whole formation, uses based on repulsion-gravity model
Swarm intelligence algorithm carry out the real-time path planning of self and include:
Determine the size of the gravitation Fa that unmanned plane described in present frame is subject to and direction and the repulsion Fr being subject toiSize and direction；
By described gravitation Fa and repulsion FriCarry out Vector modulation, obtain size with joint efforts and direction；
The described direction made a concerted effort is defined as the object traveling direction that described unmanned plane is current, and
The displacement s of unmanned plane is determined according to the described size made a concerted effort.
Unmanned plane formation path the most according to claim 2 automatic planning, it is characterised in that described whole formation
Group of planes Route Planning Data includes: described predetermined point is the position coordinate data FC of each frame within the pre-set flight timeoffline
(Xfc,Yfc,Zfc, t), the described size determining gravitation Fa that unmanned plane described in present frame is subject to and direction include:
Position coordinate data X on the line of all unmanned planes in acquisition present frame unmanned plane formationt(x,y,z)；
According to position coordinate data on the line of all unmanned planes of present frame, determine in the formation that all unmanned planes of present frame form
Position coordinate data FC on the line of described predetermined pointonline(Xfc,Yfc,Zfc,t)；
Speed V of predetermined point described in present frame is determined according to described group of planes Route Planning DataFC；
Speed V according to predetermined point described in present frameFC, described predetermined point is expected on the line of next frame to utilize equation below to determine
Position coordinate data FConline(Xfc,Yfc,Zfc,t+1)；
According to described predetermined point intended position coordinate data and group of planes formation on the line of next frame, unmanned plane phase in data is described
Position coordinate data to described predetermined point, determines intended position coordinate data X on the line of next frame unmanned planet+1(x,y,z)；
According to intended position coordinate data X on described linet+1(x, y, z) with current position coordinates data Xt(x, y z) determine nobody
The size of the gravitation Fa that machine is subject to, Fa=k1*||Xt+1(x,y,z)-Xt(x, y, z) | |, k1For proportionality coefficient；
The direction that unmanned plane current location is pointed to desired location is defined as the direction of the gravitation Fa that unmanned plane is subject to.
Unmanned plane formation path the most according to claim 2 automatic planning, it is characterised in that determine described in present frame
The repulsion Fr that unmanned plane is subject toiSize and direction include:
Obtain the present frame all barriers in the range of described unmanned plane pre-set radius R；
Determine described each barrier to the size of the repulsion of described unmanned plane and direction, wherein, described each barrier is to institute
The size of the repulsion stating unmanned plane is inversely proportional to the distance of described unmanned plane with described barrier, and direction is described in barrier points to
The direction of unmanned plane；
To the repulsion of described unmanned plane, all barriers are carried out Vector modulation, and the repulsion after being synthesized is made a concerted effort FriSize and
Direction, as the size and Orientation of the repulsion that described unmanned plane present frame is subject to.
Unmanned plane formation path the most according to claim 2 automatic planning, it is characterised in that described according to described conjunction
The size of power determines that the displacement s of unmanned plane includes:
The displacement s of described unmanned plane was directly proportional to described making a concerted effort.
6. according to the unmanned plane formation path automatic planning described in claim 2 or 5, it is characterised in that according to described conjunction
After the size of power determines the displacement s of unmanned plane, described method also includes:
Displacement s according to described unmanned plane determines the speed v of unmanned plane,Δ t is the time difference of adjacent two frames.
Unmanned plane formation path the most according to claim 1 automatic planning, it is characterised in that described predetermined point is nothing
The battle array heart position of the formation of man-machine formation composition.
8. the automatic device for planning in unmanned plane formation path, it is characterised in that including:
Data load-on module, describes data for the group of planes Route Planning Data and group of planes formation loading whole formation, described whole
The group of planes Route Planning Data of individual formation is: unmanned plane is formed into columns as an entirety, for making a reservation in the formation of this entirety composition
The travel track data of some planning；Described group of planes formation describes data including at least unmanned plane quantity in described formation and each
The position coordinate data of the most described predetermined point of frame unmanned plane；
Planning module in real time, for describing data according to group of planes Route Planning Data and the group of planes formation of described whole formation, adopts
The real-time path planning of self is carried out with swarm intelligence algorithm based on repulsion-gravity model.
The automatic device for planning in unmanned plane formation path the most according to claim 8, it is characterised in that described real-time planning mould
Block uses swarm intelligence algorithm based on repulsion-gravity model to carry out the real-time path planning of self, specifically includes:
Stress determines module, for determining the size of gravitation Fa that unmanned plane described in present frame is subject to and direction and the repulsion being subject to
FriSize and direction；
Stress synthesis module, for by described gravitation Fa and repulsion FriCarry out Vector modulation, obtain size with joint efforts and direction；
Direction determines module, for the described direction made a concerted effort is defined as the object traveling direction that described unmanned plane is current, and
Displacement determines module, for determining the displacement s of unmanned plane according to the described size made a concerted effort.
The automatic device for planning in unmanned plane formation path the most according to claim 9, it is characterised in that described whole formation
Group of planes Route Planning Data include: described predetermined point is the position coordinate data FC of each frame within the pre-set flight timeoffline
(Xfc,Yfc,Zfc, t), described stress determines that module includes that gravitation determines unit, and it is used for determining that described in present frame, unmanned plane is subject to
The size of gravitation Fa and direction, described gravitation determines that unit specifically includes:
Unmanned plane coordinate acquiring unit, for obtain present frame unmanned plane form into columns in all unmanned planes line on position coordinate data
Xt(x,y,z)；
Predetermined point coordinate determines unit, for according to position coordinate data on the line of all unmanned planes of present frame, determines current
Position coordinate data FC on the line of predetermined point described in the formation of frame all unmanned planes compositiononline(Xfc,Yfc,Zfc,t)；
Predetermined point speed determining unit, for determining the speed of predetermined point described in present frame according to described group of planes Route Planning Data
VFC；
Predetermined point expection coordinate determines unit, for speed V according to predetermined point described in present frameFC, utilize equation below to determine
Described predetermined point intended position coordinate data FC on the line of next frameonline(Xfc,Yfc,Zfc,t+1)；
Unmanned plane expection coordinate determine unit, for according to described predetermined point on the line of next frame intended position coordinate data and
Group of planes formation describes the position coordinate data of the most described predetermined point of unmanned plane in data, determines on the line of next frame unmanned plane pre-
Phase position coordinate data Xt+1(x,y,z)；
Gravitation size determines unit, for according to intended position coordinate data X on described linet+1(x, y, z) and current position coordinates
Data Xt(x, y z) determine the size of the gravitation Fa that unmanned plane is subject to, Fa=k1*||Xt+1(x,y,z)-Xt(x, y, z) | |, k1For
Proportionality coefficient；
Gravity direction determines unit, is defined as what unmanned plane was subject to for unmanned plane current location is pointed to the direction of desired location
The direction of gravitation Fa.
The 11. automatic device for planning in unmanned plane formation path according to claim 9, it is characterised in that described stress determines
Module includes that repulsion determines unit, for determining the repulsion Fr that unmanned plane described in present frame is subject toiSize and direction, described in scold
Power determines that unit specifically includes:
Obstacle determination unit, for obtaining the present frame all barriers in the range of described unmanned plane pre-set radius R；
Repulsion determines unit, for determining that described each barrier is to the size of the repulsion of described unmanned plane and direction, wherein, institute
State each barrier the size of the repulsion of described unmanned plane is inversely proportional to the distance of described unmanned plane with described barrier, direction
The direction of described unmanned plane is pointed to for barrier；
Repulsion synthesis unit, for carrying out Vector modulation, after being synthesized by all barriers to the repulsion of described unmanned plane
Repulsion is made a concerted effort FriSize and direction, as the size and Orientation of the repulsion that described unmanned plane present frame is subject to.
The 12. automatic device for planning in unmanned plane formation path according to claim 9, it is characterised in that described displacement is true
Cover half tuber determines the displacement s of unmanned plane according to the described size made a concerted effort, including:
The displacement s of described unmanned plane was directly proportional to described making a concerted effort.
13. according to the automatic device for planning in unmanned plane formation path described in claim 9 or 12, it is characterised in that described in real time
Planning module also includes:
Speed determining unit, for determining the speed v of unmanned plane according to the displacement s of described unmanned plane,Δ t is adjacent
The time difference of two frames.
The 14. automatic device for planning in unmanned plane formation path according to claim 8, it is characterised in that described predetermined point is
The battle array heart position of the formation of unmanned plane formation composition.
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