CN106125760B - Unmanned plane formation path automatic planning and device - Google Patents
Unmanned plane formation path automatic planning and device Download PDFInfo
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- 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 present invention provides a kind of unmanned plane formation path automatic planning and devices.The described method includes: group of planes Route Planning Data and group of planes formation that each frame unmanned plane load in unmanned plane formation is entirely formed into columns describe data, the group of planes Route Planning Data entirely formed into columns are as follows: unmanned plane is formed into columns as a whole, for the travel track data of the predetermined point planning in the formation integrally formed；The group of planes formation describes data including at least the position coordinate data of unmanned plane quantity and the relatively described predetermined point of each frame unmanned plane in the formation；Each frame unmanned plane describes data according to the group of planes Route Planning Data entirely formed into columns and group of planes formation, carries out itself path planning in real time using based on repulsion-gravity model swarm intelligence algorithm.The present invention carries out Distributed Design to the planning of the real-time route of unmanned plane itself, saves center calculation resource, and algorithm complexity not increasing and rise with formation member quantity.
Description
Technical field
The present invention relates to air vehicle technique fields, and more specifically, embodiments of the present invention are related to a kind of unmanned plane formation
Path automatic planning and device.
Background technique
Background that this section is intended to provide an explanation of the embodiments of the present invention set forth in the claims or context.Herein
Description recognizes it is the prior art not because not being included in this section.
Currently, unmanned plane formation path planning mostly uses greatly offline the centralized planning.Off-line type law of planning is to fly
Row pre-task, the line of flight of every frame unmanned plane can be obtained since operation time is abundant in precalculated aerial mission
To the preferable line of flight.But inventor has found in implementing process of the present invention, which at least has following lack
It falls into:
1, real-time is not strong, updates low efficiency, and since site environment is real-time change, the track of segregation reasons means
It may become non-optimal as time goes by or even can not execute, such as when encountering flight environment of vehicle and changing, it cannot be timely
It responds, adjusts course line.
2, it is that every frame unmanned plane independently provides program results that the centralized planning, which is using global information, in unmanned plane number
When measuring numerous, operation 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 a kind of path automatic planning and device that unmanned plane is formed into columns,
To solve the problems, such as that real-time present in unmanned plane formation path planning is not strong, update low efficiency and operation 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, comprising:
The group of planes Route Planning Data and group of planes formation that each frame unmanned plane load in unmanned plane formation is entirely formed into columns are retouched
State data, the group of planes Route Planning Data entirely formed into columns are as follows: unmanned plane is formed into columns as a whole, is integrally formed for this
The travel track data of predetermined point planning in formation；The group of planes formation describes data including at least unmanned plane in the formation
The position coordinate data of quantity and the relatively described predetermined point of each frame unmanned plane；Each frame unmanned plane is according to described entire
The group of planes Route Planning Data and group of planes formation of formation describe data, using based on repulsion-gravity model swarm intelligence algorithm into
Row itself path planning in real time.
In order to achieve the above object, the embodiment of the present invention also provides a kind of unmanned plane formation path automatic device for planning, packet
Include: data loading module describes data for loading the group of planes Route Planning Data entirely formed into columns and group of planes formation, described entire
The group of planes Route Planning Data of formation are as follows: unmanned plane is formed into columns as a whole, for the predetermined point in the formation integrally formed
The travel track data of planning；The group of planes formation describes data including at least unmanned plane quantity and each frame in the formation
The position coordinate data of the relatively described predetermined point of unmanned plane；Real-time planning module, for according to the group of planes road entirely formed into columns
Diameter layout data and group of planes formation describe data, using based on repulsion-gravity model swarm intelligence algorithm carry out in real time itself
Path planning.
The unmanned plane formation path automatic planning and device of the embodiment of the present invention, each frame unmanned plane load entire
The group of planes Route Planning Data and group of planes formation of formation describe the layout data that the entire unmanned plane that data are segregation reasons is formed into columns,
Every frame unmanned plane carries out the planning of itself online route based on the segregation reasons data, it is proposed that a kind of segregation reasons and
Line gauge draws the double-deck grade law of planning combined.The method has first coarse rear fine calculation features, and first layer inherits the overall situation
The advantage of planning, the second layer solve the problems, such as that conventional offline law of planning can not adapt to scene change.In view of unmanned aerial vehicle group
It is congenital to have the characteristics of distributed computing, Distributed Design is carried out to online planning problem, takes full advantage of unmanned plane itself fortune
Calculation ability saves center calculation resource, to form a team to create possibility on a large scale.Also, realization formation is kept, formation converts,
Solution of the problems such as formation avoidance under Unified Algorithm frame avoids the numerous and complicated mode design of conventional method, more versatility,
And algorithm complexity not increasing and rise with formation member quantity.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those skilled in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the process flow diagram 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 is used based on the progress of repulsion-gravity model swarm intelligence algorithm in real time
The method flow diagram of the path planning of itself；
Fig. 3 is the method flow diagram for calculating gravitation suffered by unmanned plane of the embodiment of the present invention；
Fig. 4 is the method flow diagram for calculating repulsion suffered by unmanned plane of the embodiment of the present invention；
Fig. 5 illustrates stress condition when in the calculating radius of unmanned plane without barrier of the embodiment of the present invention；
Fig. 6 illustrates the stress condition when there is barrier in the calculating radius of unmanned plane of the embodiment of the present invention；
Fig. 7 is the process flow diagram of the unmanned plane formation path automatic planning of another embodiment of the present invention；
Fig. 8 is the complete process flow figure for the online planing method of route that the unmanned plane of the embodiment of the present invention executes；
Fig. 9 is the structural schematic diagram of the automatic device for planning in unmanned plane formation path of the embodiment of the present invention；
Figure 10 is the structural schematic diagram of the real-time planning module 12 of the embodiment of the present invention；
Figure 11 is the structural schematic diagram of the stress determining module 121 of the embodiment of the present invention；
Figure 12 is the structural schematic diagram of the gravitation determination unit 1211 of the embodiment of the present invention；
Figure 13 is the structural schematic diagram of the repulsion determination unit 1212 of the embodiment of the present invention；
Figure 14 is the structural schematic diagram 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 a specific embodiment of the invention；
Figure 16 is to occur barrier and first round power synthesis operation schematic diagram on the right side of embodiment illustrated in fig. 15；
Figure 17 is to occur barrier and the second wheel power synthesis operation schematic diagram on the right side of embodiment illustrated in fig. 15；
Figure 18 is to occur barrier and third round power synthesis operation schematic diagram on the right side of embodiment illustrated in fig. 15；
Figure 19 is to occur barrier and fourth round power synthesis operation schematic diagram on the right side of embodiment illustrated in fig. 15；
Figure 20 is to occur barrier and the 5th wheel power synthesis operation schematic diagram on the right side of embodiment illustrated in fig. 15.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Those skilled in the art will understand that embodiments of the present invention can be implemented as a kind of system, device, equipment,
Method or computer program product.Therefore, the present disclosure may be embodied in the following forms, it may be assumed that complete hardware, complete soft
The form that part (including firmware, resident software, microcode etc.) or hardware and software combine.
Below with reference to several representative embodiments of the invention, the principle and spirit of the present invention are explained in detail.
Entire path planning problem is divided into two sub-problems and solved by the present invention: segregation reasons problem and online planning
Problem.It on the whole, is that top down method is combined with bottom up approach, offline with combining online, smart planning after first thick
Method.Wherein, segregation reasons are responsible for completing the pre-flight flight path planning integrally formed into columns, it is characterized in that: it is offline, coarse
, entire team；Online planning can be calculated by the MPU of every frame unmanned plane, be responsible for completing the real time position of unmanned plane itself
Planning and adjustment, it is characterized in that: in real time, fine, single machine.
For whole path planning, it is first a group of planes that the embodiment of the present application, which can use heuritic approach (such as A* algorithm),
Cook up coarse offline path.This path is the reference source of group of planes action, and non-final implementation path, Actual path are moving
When state is planned in real time, it is modified.The meaning in offline path is, whole to hold path planning, makes full use of global information, drops
The optimizing difficulty of low active path planning.
For active path planning, the embodiment of the present application devises dcs instead of original centralized control
System solves the disadvantage that segregation reasons track.Distributed planning method, due to that planning operation pressure can be assigned to each nothing
In man-machine each timeslice, it is possible to prevente effectively from the problem that real-time is bad；And planning algorithm computational complexity is with nobody
Machine number increase is not just construed as limiting to system connection quantity so with linearly increasing or even do not increase.Path planning operation
Share on the MPU of every unmanned plane, increases operation pressure with unmanned plane quantity.In view of unmanned plane formation keep and
In avoidance problem, introduce based on gravitation-repulsion swarm intelligence algorithm, unmanned aerial vehicle vision be simultaneously by destination locations gravitation and
The charge of barrier repulsion effect, the path of single unmanned plane is determined using Vector modulation.The entire every wheel of step one of unmanned aerial vehicle group changes
In generation, realizes the Coordination by planning between each machine in dynamic, avoids conflicting, to realize total tune.
Fig. 1 is the process flow diagram of the unmanned plane formation path automatic planning of the embodiment of the present invention.As shown in Figure 1,
Include:
Step S101, unmanned plane form into columns in each frame unmanned plane load the group of planes Route Planning Data and machine entirely formed into columns
Group's formation describes data, the group of planes Route Planning Data entirely formed into columns are as follows: unmanned plane is formed into columns as a whole, whole for this
The travel track data of predetermined point planning in the formation of body composition；The group of planes formation describes data including at least the formation
The position coordinate data of middle unmanned plane quantity and the relatively described predetermined point of each frame unmanned plane；
Step S102, each frame unmanned plane is according to the group of planes Route Planning Data entirely formed into columns and group of planes formation
Data are described, carry out itself path planning in real time using based on repulsion-gravity model swarm intelligence algorithm.
Pass through the embodiment of Fig. 1, it can be seen that the pressure for planning operation is assigned to each of each unmanned plane by the present invention
In timeslice, the bad problem of real-time is effectively prevented.Group of planes Route Planning Data and a group of planes formation description entirely formed into columns
Data can be by generating offline, such as can be completed by control server, which is only responsible for calculating whole road of forming into columns
Diameter planning is not related to the path planning problem of every frame unmanned plane in forming into columns；After formation planning path file calculates, lead to
Established communication link is crossed, is loaded on every frame unmanned plane in forming into columns；When every frame unmanned plane has takeoff condition, execute
Online planning part, and according to online program results, execute aerial mission.
In the present embodiment, the group of planes Route Planning Data entirely formed into columns are as follows: unmanned plane is formed into columns as a whole,
For the travel track data of the predetermined point planning in the formation integrally formed；The group of planes formation describes data including at least institute
State the position coordinate data of unmanned plane quantity and the relatively described predetermined point of each frame unmanned plane in formation.
It should be clear that " predetermined point in formation " pointed in the embodiment of the present invention can be unmanned plane formation group
At formation battle array heart position, the battle array heart is the geometric center of all unmanned planes in formation formation.Certainly, the embodiment of the present application
It is not limited thereto.
(1) the smallest path of A* algorithm search cost is used, the group of planes Route Planning Data entirely formed into columns is generated.Wherein,
The group of planes Route Planning Data includes the predetermined point in total flight time, frame per second and formation formation that the unmanned plane is formed into columns
Travel track data.In embodiments of the present invention, group of planes Route Planning Data is obtained using heuristic A * algorithm, thought substantially
Think it is the smallest path of search cost.A* (A-Star) algorithm is that solve shortest path in a kind of static road network most effective straight
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
A spatial point (X, Y, Z) or (longitude, latitude, height) and posture (yaw, pitch, roll) indicate.By between specified time
Every, it is determined that the entire unmanned plane path locus formed into columns and the rate of execution.
As follows, group of planes Route Planning Data is initially total time, frame per second, and the second row is actual path data backward
(the travel track data that the track data is the predetermined point in formation formation), every frame contains 6 variables, is separated with comma, frame
Between separated with branch:
total_time,FPS
x1,y1,z1,yaw1,pitch1,roll1；x2,y2,z2,yaw2,pitch2,roll2；…,xn,yn,zn,yawn,
pitchn,rolln；
(2) group of planes formation describes data including at least unmanned plane quantity and each frame unmanned plane phase in the formation
To the position coordinate data of the predetermined point.
Specifically, it is with the battle array heart (predetermined point) for cartesian coordinate system center that group of planes formation, which describes data, generates a group of planes and sit
Then mark system describes the own coordinate and battle array heart offset of every frame unmanned plane under the group of planes coordinate system.As follows, the first row
The quantity of unmanned plane in unmanned plane formation is described, the second row to N+1 row describes every frame unmanned plane under group of planes coordinate system
Position and posture:
Num
ID1,x1,y1,z1,yaw1,pitch1,roll1
…
IDn,xn,yn,zn,yawn,pitchn,rolln
For example, can set its group of planes formation for the wedge-shaped formation figure with 6 frame unmanned planes and describe data are as follows:
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
For the hexagonal ring system of battle formations with 6 frame unmanned planes, its group of planes formation can be set and describe data are as follows:
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 it is implemented, in step s 102, each frame unmanned plane is advised according to the group of planes path entirely formed into columns
It draws data and group of planes formation and describes data, carry out itself road in real time using based on repulsion-gravity model swarm intelligence algorithm
Diameter planning, as shown in Figure 2, comprising:
Step S1021 determines the size and direction and the repulsion Fr being subject to of the gravitation Fa that unmanned plane described in present frame is subject toi
Size and direction；
Step S1022, by the gravitation Fa and repulsion FriVector modulation is carried out, size and the direction of resultant force are obtained；
The direction of the resultant force is determined as the current object traveling direction of the unmanned plane by step S1023, and
Step S1024 determines the displacement s of unmanned plane according to the size of the resultant force.
In the step S102 of the present embodiment, every frame unmanned plane carries out online planning in real time, and task is to advise offline
On the basis of drawing, the local position state of the machine is adjusted to adaptation to local conditions, may make that final path realizes path avoidance and formation is protected
Hold the balance of the two.
The method that unmanned plane carries out own path planning can be regarded as a kind of swarm intelligence algorithm, it is only to need part
The algorithm that information and a small amount of rule achieve that.The group of planes Route Planning Data entirely formed into columns and a group of planes loaded in step S101
Formation describes data and shares between the unmanned plane in formation, and every frame unmanned plane is only responsible for itself behavior, not to other units
It is controlled.
In step S1021, drawn using calculate that every frame unmanned plane is subject to based on repulsion-gravity model swarm intelligence algorithm
Power Fa and repulsion FriSize and Orientation.The algorithm model be every frame unmanned plane simultaneously face barrier (including friendly machine, enemy plane,
Mountain peak etc. is considered as repulsion) and destination (being considered as gravitation) collective effect, the resultant direction and size of repulsion and gravitation determine nothing
Man-machine next step countermeasures, formula are as follows:
v∝∑Fri+Fa；
Wherein, FriFor the repulsion that the unmanned plane in unmanned plane formation is subject to, Fa is the gravitation that the unmanned plane is subject to, v
It include size and Orientation for the target velocity of the unmanned plane, " ∝ " is direct ratio symbol, indicates that the size of v is proportional to FriWith Fa's
The size of resultant force.
Its implementation is specific as follows:
(1) gravitation Fa suffered by unmanned plane is calculated
By being described above it is found that including the predetermined point in the group of planes Route Planning Data entirely formed into columns default winged
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, the variable x, y, z are the position coordinate data of predetermined point, then the predetermined point in the group of planes Route Planning Data
FC is represented by the position coordinate data of time toffline(Xfc,Yfc,Zfc, t), determine what unmanned plane described in present frame was subject to
The size of gravitation Fa and direction, as shown in figure 3, specific steps include:
Step S10211, obtain present frame unmanned plane form into columns in all unmanned planes line on position coordinate data Xt(x,y,
z)；
Step S10212, according to position coordinate data on the line of all unmanned planes of present frame, determine present frame institute whether there is or not
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 the speed V of predetermined point described in present frame according to the group of planes Route Planning DataFC；
Step S10214, the speed V of the predetermined point according to present frameFC, determine that the predetermined point exists using following formula
Intended position coordinate data FCo on the line of next framenline(Xfc,Yfc,Zfc,t+1)；
Step S10215, according to the predetermined point, intended position coordinate data and group of planes formation are described on the line of next frame
The position coordinate data of the relatively described predetermined point of unmanned plane, determines intended position coordinate number on the line of next frame unmanned plane in data
According to Xt+1(x,y,z)；
Step S10216, according to intended position coordinate data X on the linet+1(x, y, z) and current position coordinates data Xt
(x, y, z) determines the size for the gravitation Fa that unmanned plane is subject to, Fa=k1*||Xt+1-Xt| |, k1For proportionality coefficient.In the application reality
It applies in example, k1Value range be -0.1~10.0, be defaulted as 1.0 under general scenario, numerical value is bigger, indicates the adjustment of unmanned plane
Speed is faster.
The direction that desired location is directed toward in unmanned plane current location is determined as the gravitation Fa that unmanned plane is subject to by step S10217
Direction.
Position coordinate data is actual position coordinate data of unmanned plane during execution task on the line.One
In kind specific embodiment, the position coordinate data of the unmanned plane can be positioned by optics motion capture system to be obtained, should
Optics motion capture system includes multiple optics motion capture equipment and processor.Multiple optics motion capture equipment arrangement
In the designated movement region of unmanned plane, it can be used for obtaining the image of unmanned plane from different directions, so that the processing of positioning system
Device is based on described image and positions to the unmanned plane.Wherein, unmanned plane proper motion in designated movement region
In the case of, image can be got by least two optics motion capture equipment.At least three are provided on the surface of unmanned plane
Mark point, the mark point for being set to unmanned plane surface are arranged by different arrangement modes, and the mark point of unmanned plane all has uniquely
Arrangement mode.At least three mark points on the surface of the unmanned plane are that processor it can be imaged the mark point identified.Place
Reason device receives at least two images for the mark point including unmanned plane that multiple optics motion capture equipment obtain, and at least two
Mark point in width image is handled, and the coordinate data of mark point is obtained.
According to the unmanned plane of the desired location of next frame unmanned plane and present frame it can be seen from the above specific implementation step
Position calculates gravitation, and the unmanned plane position of present frame can directly obtain, and the desired location of the unmanned plane of next frame can lead to
It crosses the predetermined point position of next frame and group of planes formation and describes the position coordinate data of the opposite predetermined point of unmanned plane in data and obtain
It arrives.
Due to the current location of calculating all unmanned planes in unmanned plane formation of each predetermined point position coordinate data
Coordinate data so the change of unmanned plane position just influences whether the change of predetermined point, and then affects other lists of entirely forming into columns
The change of first track, and it is this change for be from the point of view of segregation reasons path it is small and part, when unmanned plane is by obstacle
The influence of object and produce lateral speed, and these lateral displacements will not influence formation and finally go to destination.
In step S10214, when having unmanned plane to encounter outer barrie in formation, increment type meter is used in treatment process
Predetermined point position is calculated, incremental portion is the predetermined point that present frame is determined according to the group of planes Route Planning Data loaded in step S101
Speed VFC；And unmanned plane, when not encountering barrier, predetermined point position directly uses the coordinate of group of planes Route Planning Data to assign
Value.The position of the relatively described predetermined point of unmanned plane in data is described according to the predetermined point coordinate and group of planes formation of obtained next frame
Coordinate data can solve every frame unmanned plane and it is expected existing position.
(2) repulsion Fr suffered by unmanned plane is calculatedi
The repulsion Fr that unmanned plane described in present frame is subject to also is determined in the embodiment of the present invention, in step S1021iSize and
Direction, as shown in figure 4, specific steps include:
Step S10218 obtains all barriers of the present frame within the scope of the unmanned plane pre-set radius R；
Step S10219 determines size and direction of each barrier to the repulsion of the unmanned plane, wherein described
Each barrier is inversely proportional at a distance from the barrier to the unmanned plane to the size of the repulsion of the unmanned plane, and direction is
Barrier is directed toward the direction of the unmanned plane；
Repulsion of all barriers to the unmanned plane is carried out Vector modulation, the reprimand after being synthesized by step S10210
Power resultant force FriSize and direction, the size and Orientation as the repulsion that the unmanned plane present frame is subject to.
Since each unmanned plane need to only consider the influence factor in periphery region, so passing through one calculating radius of setting
R, to determine to participate in the factor of operation repulsion resultant force.Such as: for the repulsion point of distance objective too far, can be ignored.Such as
This design effectively controls operand, and has ignored the environmental variance for the machine low correlation.Further, barrier is calculated
Distance d apart from the machinei, then compare diThe meter of repulsion is just carried out for being less than the barrier of R with the relationship for calculating radius R
It calculates.
Referring to Fig. 5 and Fig. 6, respectively illustrate when calculating the stress feelings in radius without barrier and when there is barrier
Condition.In Fig. 5, occur in the calculating radius R for the unmanned plane that number is #1 without barrier, the position of the next step of unmanned plane is void
Line position.When there is barrier (square) in calculating radius R, referring to Fig. 6, the direction Fr is barrier and unmanned plane line side
To Fr size is the inverse ratio of distance.Fa size is the line direction of current unmanned plane position Yu next frame unmanned plane position, size
It is the direct ratio of distance.F is the Vector modulation direction of Fr and Fa, illustrates the position that practical unmanned plane next frame should be gone.
In step S1024, the size according to the resultant force determines the displacement s of unmanned plane, comprising: it is described nobody
The displacement s of machine is directly proportional to the resultant force F.
As shown in fig. 7, can also be wrapped after the displacement s that step S1024 determines unmanned plane according to the size of the resultant force
Step S1025 is included, the speed v of unmanned plane is determined according to the displacement s of the unmanned plane,Δ t be adjacent two frame when
Between it is poor.
Fig. 8 is the complete process flow figure for the online planing method of route that the unmanned plane of the embodiment of the present invention executes.This reality
Example is applied to be illustrated so that the predetermined point is the battle array heart as an example.
Step S801 calculates the battle array heart position FC of present frame according to the position of all unmanned planes of present frameonline(Xfc,
Yfc,Zfc,t).When it is implemented, battle array heart position is usually the geometric center of all unmanned planes in forming into columns, it may be assumed that
Step S802 calculates battle array heart speed V according to the group of planes Route Planning Data of loadFC:
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 t moment in the group of planes Route Planning Data, FCoffline(Xfc,Yfc,Zfc, t+1) and for institute
State the position coordinate data of the battle array heart at the t+1 moment in group of planes Route Planning Data.
Step S803 calculates the expected battle array heart position coordinates of next frameThat is, when thering is unmanned plane to encounter outer barrie in formation,
Using battle array heart position expected from incremental computation in treatment process, incremental portion is in step S402 according to group of planes path planning number
According to formation speed obtained from calculating；And unmanned plane, when not encountering barrier, battle array heart position directly uses group of planes path planning
The coordinate assignment of data.
Step S804, according to the battle array heart of formation next frame expected battle array heart position coordinates FConline(t+1) and a group of planes
Formation describes unmanned plane in data and determines the intended position coordinate data of next frame unmanned plane with respect to the position coordinate data of the battle array heart
Xt+1(x,y,z).That is: Xt+1(x, y, z)=FConline(t+1)+Xoffset(x,y,z)；Wherein, Xt+1(x, y, z) is unmanned plane in t
The expectation coordinate at+1 moment, FConlineIt (t+1) is the expected battle array heart coordinate at t+1 moment, XoffsetData are described for group of planes formation
In the unmanned plane with respect to the battle array heart position coordinate data.
Step S805, according to the expected coordinate Xt+1(x, y, z) and current location Xt(x, y, z) calculates gravitation Fa, Fa=
k1*||Xt+1(x,y,z)-Xt(x, y, z) | |, k1For proportionality coefficient.
Step S806 calculates the target range matrix D on unmanned plane periphery, element, that is, current unmanned plane position and other weeks
The distance d of side 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, element Fr by target range matrix DiPass through diIt calculates,
k2It is proportionality coefficient.
Step S808 is counted according to radius R and target range matrix D is calculated in the effective Fr of R rangei, generate effective
Repulsion resultant force ∑ Fri；
Step S809, to effective repulsion resultant force ∑ FriVector modulation operation, which is carried out, with gravitation Fa generates resultant force F, F=∑
Fri+Fa；
Step S810 makes the mobile certain displacement vector s of unmanned plane, direction of displacement is the same as the direction F, displacement according to resultant force F
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 sWhen Δ t is two frame of front and back
Between it is poor；
Step S812 sends the control command with the speed v to the direction F displacement s according to displacement s and speed v；
Step S813 repeats step S801-S812, the path locus entirely formed into columns until completing segregation reasons.
Wherein, step S801-805 is the method and step for calculating gravitation, and step S806-808 is the method step for calculating repulsion
Suddenly, still, what the present invention was not intended to limit step S801-805 and step S806-808 executes sequence, can also first calculate repulsion,
Gravitation is calculated again.
It can be concluded that, online planing method actually also uses a loop iteration from processing method shown in Fig. 8
Algorithm is executed by continuous iteration, realizes whole optimizing effect, but for single unmanned plane, every step execution is only concerned one
The displacement of frame and present frame.
It should be noted that although describing the operation of the method for the present invention in the accompanying drawings with particular order, this is not required that
Or hint must execute these operations in this particular order, or have to carry out operation shown in whole and be just able to achieve the phase
The result of prestige.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or will
One step is decomposed into execution of multiple steps.
After describing the method for exemplary embodiment of the invention, next, with reference to Fig. 5 to the exemplary reality of the present invention
The automatic device for planning in unmanned plane formation path for applying mode is introduced.The implementation of the device may refer to the reality of the above method
It applies, overlaps will not be repeated.Term " module " used below and " unit " can be the software for realizing predetermined function
And/or hardware.Although module described in following embodiment is preferably realized with software, hardware or software and hard
The realization of the combination of part is also that may and be contemplated.
Fig. 9 is the structural schematic diagram of the automatic device for planning in unmanned plane formation path of the embodiment of the present invention, comprising:
Data loading module 11 describes data for loading the group of planes Route Planning Data entirely formed into columns and group of planes formation,
The group of planes Route Planning Data entirely formed into columns are as follows: unmanned plane is formed into columns as a whole, in the formation integrally formed
Predetermined point planning travel track data；The group of planes formation describe data including at least unmanned plane quantity in the formation with
And the position coordinate data of each relatively described predetermined point of frame unmanned plane；Real-time planning module 12, for according to the entire volume
The group of planes Route Planning Data and group of planes formation of team describe data, carry out using based on repulsion-gravity model swarm intelligence algorithm
The path planning of itself in real time.
In the present embodiment, as shown in Figure 10, the real-time planning module 12 is using based on repulsion-gravity model gunz
Can algorithm carry out itself path planning in real time, specifically include:
Stress determining module 121, for determine gravitation Fa that unmanned plane described in present frame is subject to size and direction and by
The repulsion Fr arrivediSize and direction；
Stress synthesis module 122 is used for the gravitation Fa and repulsion FriVector modulation is carried out, the size of resultant force is obtained
And direction；
Direction determining mould 123, for the direction of the resultant force to be determined as the current target traveling side of the unmanned plane
To, and
Displacement determining module 124, for determining the displacement s of unmanned plane according to the size of the resultant force.
In the present embodiment, as shown in figure 11, the stress determining module 121 includes gravitation determination unit 1211 and repulsion
Determination unit 1212, wherein gravitation determination unit 1211 is used for size and the side for the gravitation Fa that unmanned plane described in present frame is subject to
To repulsion determination unit 1212 is for determining the gravitation Fr that unmanned plane described in present frame is subject toiSize and direction.
As shown in figure 12, the gravitation determination unit 1211 specifically includes:
Unmanned plane coordinate acquiring unit 12111, the line for obtaining all unmanned planes in the formation of present frame unmanned plane are upper
Set coordinate data Xt(x,y,z)；
Predetermined point coordinate determination unit 12112, the position coordinate data on the line according to all unmanned planes of present frame,
Determine position coordinate data FCo on the line of predetermined point described in the formation of all unmanned plane compositions of present framenline(Xfc,Yfc,Zfc,
t)；
Predetermined point speed determining unit 12113, it is pre- described in present frame for being determined according to the group of planes Route Planning Data
The speed V of fixed pointFC；
Predetermined point is expected coordinate determination unit 12114, the speed V for the predetermined point according to present frameFC, using as follows
Formula determines 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) be group of planes Route Planning Data in include predetermined point the t+1 moment position coordinates number
According to.
Unmanned plane be expected coordinate determination unit 12115, for according to the predetermined point on the line of next frame desired location
Coordinate data and group of planes formation describe the position coordinate data of the relatively described predetermined point of unmanned plane in data, determine next frame nobody
Intended position coordinate data X on the line of machinet+1(x,y,z)；
Gravitation size determination unit 12116, for according to intended position coordinate data X on the linet+1(x, y, z) and work as
Front position coordinate data Xt(x, y, z) determines the size for 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 determination unit 12117, the direction for desired location to be directed toward in unmanned plane current location are determined as nothing
The direction of the man-machine gravitation Fa being subject to.
In the present embodiment, as shown in figure 13, the repulsion determination unit 1212 specifically includes:
Obstacle determination unit 12121, it is all within the scope of the unmanned plane pre-set radius R for obtaining present frame
Barrier；
Repulsion determination unit 12122, for determining size and side of each barrier to the repulsion of the unmanned plane
To, wherein each barrier is to the size of the repulsion of the unmanned plane at a distance from the barrier to the unmanned plane
It is inversely proportional, direction is the direction that barrier is directed toward the unmanned plane；
Repulsion synthesis unit 12123 is obtained for repulsion of all barriers to the unmanned plane to be carried out Vector modulation
Repulsion resultant force Fr after synthesisiSize and direction, the size and Orientation as the repulsion that the unmanned plane present frame is subject to.
In the present embodiment, the displacement determining module 124 determines the displacement of unmanned plane according to the size of the resultant force
Amount s is specifically included: the displacement s of the unmanned plane is directly proportional to the resultant force.
In the present embodiment, as shown in figure 14, the real-time planning module 12 further include:
Speed determining unit 125 determines the speed v of unmanned plane for the displacement s according to the unmanned plane,
Δ t is the time difference of adjacent two frame.
In the present embodiment, the predetermined point is the battle array heart position of the formation of unmanned plane formation composition.
In addition, although being referred to several unit moulds of the automatic device for planning in unmanned plane formation path in the above detailed description
Block, but this division is only not enforceable.In fact, embodiment according to the present invention, above-described two or
More multiunit feature and function can embody in a unit.Equally, the feature and function of an above-described unit
It can also be to be embodied by multiple units with further division.
Below illustrate a three frame unmanned planes wedge-shaped formation under, in face of how to be utilized when barrier it is of the invention based on
Repulsion-gravity model carries out real-time route adjustment.
Firstly, learning that entire unmanned plane formation is flown from south to north, flying speed is a speed according to global segregation reasons
Unit is spent, in clear, forms into columns and keeps set formation, as shown in figure 15.Every frame unmanned plane distance is more than to calculate radius, institute
The effect of Fa is only received with flying unit, Fa is resultant force F at this time.
After barrier enters the calculating variable diameter of first unmanned plane, as shown in figure 16, it is contemplated that the gravitation Fa that position generates
Generate repulsion Fr collective effect to 1# with barrier (square objects) makes 1# fly to left side in 1#, resultant force F.Other two framves are still
It keeps moving ahead.
The entire battle array heart is calculated by current location, i.e. the mass center of the big triangle of three flying units composition is (ten in figure
Word location), on the basis of centroid position, northwards move the displacement of unit speed generation, dotted line cross as shown in figure 17
Coordinate, as next frame expectation battle array heart position, and three broken line triangles, have marked under expectation formation, the phase of every frame unmanned plane
Hope position.Due to the influence of previous frame, 1# flies out a distance to the left, and 2# flies out forward a distance, both causes in this frame
When, hypotelorism, so 1# thrust Fr while being drawn Fa by position by the north by east of 2#, resultant force F make it
Desired locations are surmounted, and 2# is because of reaction force by 1#, and not up to desired locations, but northwestward is to flying to.
3# is produced a composite force westwards by desired locations and barrier repulsion.
Due to the repulsion of 1# and 2#, this time formation is more dispersed, after calculating mass center, formation toward north again stepping similarly away from
From as shown in figure 18.1# is again by the effect of barrier, but current direction is close with desired locations direction, and resultant force F is more than the phase
Hope position.2# is not influenced by repulsion around, only by gravitation.3# is caused because the deceleration of barrier results in zooming out for desired locations
Increase current Fa than last round of, and the direction Fa is because of the adjustment taken turns in the heart of battle array, also obtains and certain westwards move.Make
3# this wheel resultant direction northwestwards based on, and amplitude is very big.
Calculate the battle array heart and setting constant offset after, as shown in figure 19, it can be seen that 1# and 2# only influenced by Fa, and 3# because
For the displacement for being slowed down advance by composite force always, so that Fa is increasing, and 3# more also exacerbates the production of Fr close to barrier
It is raw, so current F resultant force is a burst of more more obvious than upper.
After the adjustment of above-mentioned 4 frame time, as shown in figure 20, it can be seen that the time of the 5th frame, mutually no longer
It influences, entire formation has had moved away from barrier and towards desired location movement, realizes avoidance and keeps formation.
The unmanned plane formation path automatic planning and device of the embodiment of the present invention, it is proposed that a kind of segregation reasons and
The double-deck grade law of planning combined is planned online.The method has first coarse rear fine calculation features, and first layer inherits entirely
The advantage of office's planning, the second layer solve the problems, such as that conventional offline law of planning can not adapt to scene change.In view of unmanned plane
Group is congenital to have the characteristics of distributed computing, carries out Distributed Design to online planning problem, takes full advantage of unmanned plane itself
Operational capability saves center calculation resource, to form a team to create possibility on a large scale.Also, realize that formation is kept, formation becomes
Change, formation avoidance the problems such as solution under Unified Algorithm frame, avoid the numerous and complicated mode design of conventional method, it is more general
Property, and algorithm complexity not increasing and rise with formation member quantity.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.These computer program instructions can also be loaded into computer or the processing of other programmable datas is set
It is standby upper, so that execute series of operation steps on a computer or other programmable device to generate computer implemented processing,
To which instruction executed on a computer or other programmable device is provided for realizing in one process of flow chart or multiple streams
The step of function of being specified in journey and/or one or more blocks of the block diagram.
Specific embodiment is applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (12)
1. a kind of unmanned plane formation path automatic planning characterized by comprising
The group of planes Route Planning Data and group of planes formation that each frame unmanned plane load in unmanned plane formation is entirely formed into columns describe number
According to the group of planes Route Planning Data entirely formed into columns are as follows: unmanned plane is formed into columns as a whole, for the formation integrally formed
In predetermined point planning travel track data；The group of planes formation describes data including at least unmanned plane quantity in the formation
And the position coordinate data of each relatively described predetermined point of frame unmanned plane；
Each frame unmanned plane describes data according to the group of planes Route Planning Data entirely formed into columns and group of planes formation, uses
Itself path planning in real time is carried out based on repulsion-gravity model swarm intelligence algorithm, comprising:
Determine the size and direction and the repulsion Fr being subject to of the gravitation Fa that unmanned plane described in present frame is subject toiSize and direction；
By the gravitation Fa and repulsion FriVector modulation is carried out, size and the direction of resultant force are obtained；
The direction of the resultant force is determined as the current object traveling direction of the unmanned plane, and
The displacement s of unmanned plane is determined according to the size of the resultant force.
2. unmanned plane formation according to claim 1 path automatic planning, which is characterized in that described entirely to form into columns
Group of planes Route Planning Data includes: the position coordinate data FC of the predetermined point each frame within the pre-set flight timeoffline
(Xfc,Yfc,Zfc, t), the size for the gravitation Fa that unmanned plane described in the determining 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, in the formation for determining all unmanned plane compositions of present frame
Position coordinate data FC on the line of the predetermined pointonline(Xfc,Yfc,Zfc,t)；
The speed V of predetermined point described in present frame is determined according to the group of planes Route Planning DataFC；
The speed V of the predetermined point according to present frameFC, determine that the predetermined point is expected on the line of next frame using following formula
Position coordinate data FConline(Xfc,Yfc,Zfc,t+1)；
According to the predetermined point, intended position coordinate data and group of planes formation describe unmanned plane phase in data on the line of next frame
To the position coordinate data of the predetermined point, intended position coordinate data X on the line of next frame unmanned plane is determinedt+1(x,y,z)；
According to intended position coordinate data X on the linet+1(x, y, z) and current position coordinates data Xt(x, y, z) determines nobody
The size for 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 desired location is directed toward in unmanned plane current location is determined as to the direction for the gravitation Fa that unmanned plane is subject to.
3. unmanned plane formation according to claim 1 path automatic planning, which is characterized in that determine described in present frame
The repulsion Fr that unmanned plane is subject toiSize and direction include:
Obtain all barriers of the present frame within the scope of the unmanned plane pre-set radius R；
Determine size and direction of each barrier to the repulsion of the unmanned plane, wherein each barrier is to institute
The size for stating the repulsion of unmanned plane is inversely proportional at a distance from the barrier to the unmanned plane, and direction is described in barrier is directed toward
The direction of unmanned plane；
Repulsion of all barriers to the unmanned plane is subjected to Vector modulation, the repulsion resultant force Fr after being synthesizediSize and
Direction, the size and Orientation as the repulsion that the unmanned plane present frame is subject to.
4. unmanned plane formation according to claim 1 path automatic planning, which is characterized in that described according to the conjunction
The size of power determines that the displacement s of unmanned plane includes:
The displacement s of the unmanned plane is directly proportional to the resultant force.
5. unmanned plane formation according to claim 1 or 4 path automatic planning, which is characterized in that according to the conjunction
After the size of power determines the displacement s of unmanned plane, the method also includes:
The speed v of unmanned plane is determined according to the displacement s of the unmanned plane,Δ t is the time difference of adjacent two frame.
6. unmanned plane formation according to claim 1 path automatic planning, which is characterized in that the predetermined point is nothing
The battle array heart position of the formation of man-machine formation composition.
7. a kind of automatic device for planning in unmanned plane formation path characterized by comprising
Data loading module describes data for loading the group of planes Route Planning Data entirely formed into columns and group of planes formation, described whole
The group of planes Route Planning Data of a formation are as follows: unmanned plane is formed into columns as a whole, is predetermined in the formation integrally formed
The travel track data of point planning；The group of planes formation describes data including at least unmanned plane quantity in the formation and each
The position coordinate data of the relatively described predetermined point of frame unmanned plane；
Real-time planning module is adopted for describing data according to the group of planes Route Planning Data entirely formed into columns and group of planes formation
Itself path planning in real time is carried out with based on repulsion-gravity model swarm intelligence algorithm, is specifically included:
Stress determining module, for determining the size and direction and the repulsion being subject to of gravitation Fa that unmanned plane described in present frame is subject to
FriSize and direction；
Stress synthesis module is used for the gravitation Fa and repulsion FriVector modulation is carried out, size and the direction of resultant force are obtained；
Direction determining mould, for the direction of the resultant force to be determined as the current object traveling direction of the unmanned plane, and
Displacement determining module, for determining the displacement s of unmanned plane according to the size of the resultant force.
8. the automatic device for planning in unmanned plane formation according to claim 7 path, which is characterized in that described entirely to form into columns
Group of planes Route Planning Data includes: the position coordinate data FC of the predetermined point each frame within the pre-set flight timeoffline
(Xfc,Yfc,Zfc, t), the stress determining module includes gravitation determination unit, be used to determine unmanned plane described in present frame by
Gravitation Fa size and direction, the gravitation determination unit specifically include:
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 determination unit, the position coordinate data on the line according to all unmanned planes of present frame determine current
Position coordinate data FC on the line of predetermined point described in the formation of all unmanned plane compositions of frameonline(Xfc,Yfc,Zfc,t)；
Predetermined point speed determining unit, for determining the speed of predetermined point described in present frame according to the group of planes Route Planning Data
VFC；
Predetermined point is expected coordinate determination unit, the speed V for the predetermined point according to present frameFC, determined using following formula
Predetermined point intended position coordinate data FC on the line of next frameonline(Xfc,Yfc,Zfc,t+1)；
Unmanned plane be expected coordinate determination unit, for according to the predetermined point on the line of next frame intended position coordinate data and
Group of planes formation describes the position coordinate data of the relatively described predetermined point of unmanned plane in data, determines pre- on the line of next frame unmanned plane
Phase position coordinate data Xt+1(x,y,z)；
Gravitation size determination unit, for according to intended position coordinate data X on the linet+1(x, y, z) and current position coordinates
Data Xt(x, y, z) determines the size for 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 determination unit, the direction for desired location to be directed toward in unmanned plane current location are determined as what unmanned plane was subject to
The direction of gravitation Fa.
9. the automatic device for planning in unmanned plane formation according to claim 7 path, which is characterized in that the stress determines mould
Block includes repulsion determination unit, the repulsion Fr being subject to for determining unmanned plane described in present frameiSize and direction, the repulsion
Determination unit specifically includes:
Obstacle determination unit, for obtaining all barriers of the present frame within the scope of the unmanned plane pre-set radius R；
Repulsion determination unit, for determining size and direction of each barrier to the repulsion of the unmanned plane, wherein every
One barrier is inversely proportional at a distance from the barrier to the unmanned plane to the size of the repulsion of the unmanned plane, direction
The direction of the unmanned plane is directed toward for barrier；
Repulsion synthesis unit, for repulsion of all barriers to the unmanned plane to be carried out Vector modulation, after being synthesized
Repulsion resultant force FriSize and direction, the size and Orientation as the repulsion that the unmanned plane present frame is subject to.
10. the automatic device for planning in unmanned plane formation according to claim 7 path, which is characterized in that the displacement is true
Cover half root tuber determines the displacement s of unmanned plane according to the size of the resultant force, comprising:
The displacement s of the unmanned plane is directly proportional to the resultant force.
11. the automatic device for planning in unmanned plane formation path according to claim 7 or 10, which is characterized in that described real-time
Planning module further include:
Speed determining unit determines the speed v of unmanned plane for the displacement s according to the unmanned plane,Δ t is phase
The time difference of adjacent two frames.
12. the automatic device for planning in unmanned plane formation according to claim 7 path, which is characterized in that the predetermined point is
The battle array heart position of the formation of unmanned plane formation composition.
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| CN104700165B (en) * | 2015-03-27 | 2016-05-11 | 合肥工业大学 | The collaborative paths planning method of a kind of multiple no-manned plane warship machine |
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