CN106933246A - A kind of complex task planing method of multiple no-manned plane - Google Patents
A kind of complex task planing method of multiple no-manned plane Download PDFInfo
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- CN106933246A CN106933246A CN201710195712.7A CN201710195712A CN106933246A CN 106933246 A CN106933246 A CN 106933246A CN 201710195712 A CN201710195712 A CN 201710195712A CN 106933246 A CN106933246 A CN 106933246A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
A kind of complex task planing method of multiple no-manned plane, is related to unmanned plane.Flow is write including aerial mission decomposition process, flight behavior storehouse design cycle and XML file；The aerial mission decomposition process is directed to performed multitask carries out the decomposition of behavior tree, then the single task that will be obtained carries out the decomposition of behavior tree；The flight behavior storehouse design cycle is directed to the flight behavior needed for single task, carries out basic act storehouse and the design of self-defined behavior storehouse；The XML file is write flow and is directed to the behavior tree knot for decomposing and obtaining, and is write using self-defined XML format language.User can be helped carries out the planning of whole task process, Task-decomposing is carried out according to task rank, and tasks carrying is carried out according to physical condition, and the practical problems of multiple no-manned plane complex task are solved, the method has the advantages that principle is easy, plans that flexible, practical, implementation effect is good.
Description
Technical field
The present invention relates to unmanned plane, more particularly, to a kind of complex task planing method of multiple no-manned plane.
Background technology
It is to ensure as the task grouping of top with the popularization and the fast development of correlation technique of unmanned plane
The prerequisite of unmanned plane tasks carrying success or failure, be how the important hand of flexible configuration and the whole UAS resource of optimization
Section.Under the premise of existing task, it is necessary to while making a plan, according to resource quantity, task type, original state peace treaty
Beam condition, using corresponding planing method, task is carried out to resolve into a series of behavior sequence, then held by Rule of judgment
The corresponding action of row, to reach the purpose of completion task.One task is generally all by complicated sequential by different behaviors
Constituted with causality constraint, the problem such as resource allocation, behavior tissue and clash handle so that the mission planning of unmanned plane becomes
Dynamic complication system process.
Current existing unmanned plane mission planning method, a part is conventional destination-flight course planning, and another part is
Optimization method based on resource allocation and goal ordering, and it is then less to carry out mission planning using behavior.And as task is complicated
How the continuous improvement of degree, the key for solving technical bottleneck is turned into using artificial intelligence approach.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art, there is provided for solving multiple no-manned plane complex task, using
A kind of complex task planing method of the multiple no-manned plane of behavior tree this artificial intelligence approach.
The present invention is comprised the following steps：
1) aerial mission is decomposed；
In step 1) in, what the aerial mission was decomposed comprises the following steps that：
(1) the architectural characteristic storehouse of behavior tree is set up：Architectural characteristic according to behavior tree sets up corresponding logical relation storehouse；
(2) multitask decomposition is carried out：Multitask is converted into single task according to the logical relation of behavior tree；
(3) single task decomposition is carried out：Single task is converted into flying in flight behavior storehouse according to the logical relation of behavior tree
Every trade is.
In step 1) in (1st) part, the architectural characteristic storehouse of the behavior tree includes：Root node and its characteristic, combination section
Point and its characteristic, leaf node and its characteristic.
In step 1) in (2nd) part, the multitask isolation is included：Sequentially, parallel, selection, circulation.
In step 1) in (3rd) part, the single task isolation is included：Sequentially, parallel, selection, circulation.
2) flight behavior storehouse design；
In step 2) in, what the flight behavior storehouse was designed comprises the following steps that：
(1) basic flight behavior storehouse is set：Definition and storage unmanned plane are performing the basic flight needed for task process
Behavior；
(2) self-defined flight behavior storehouse is set：Definition and the required spy during special duty is performed of storage unmanned plane
Different flight behavior；
In step 2) in (1st) part, the basic flight behavior storehouse, the basic flight behavior of definition and storage is included：
Take off, cruise, spiraling, making a return voyage, humanoid formation, square, circular forming into columns.
In step 2) in (2nd) part, the self-defined flight behavior storehouse, the flight behavior of definition and storage includes user
The special flight behavior that oneself is set, voluntarily can be supplemented and be changed according to mission requirements.
3) behavior tree construction XML file is write.
In step 3) in, what the behavior tree construction XML file was write comprises the following steps that：
According to the behavior tree construction that decomposition is obtained, file is write using self-defined XML format language.
The present invention writes flow including aerial mission decomposition process, flight behavior storehouse design cycle and XML file；It is described to fly
Row Task-decomposing flow is directed to performed multitask carries out the decomposition of behavior tree, then the single task that will be obtained carries out behavior tree point
Solution；The flight behavior storehouse design cycle is directed to the flight behavior needed for single task, carries out basic act storehouse and self-defined
Design in behavior storehouse；The XML file is write flow and is directed to the behavior tree knot for decomposing and obtaining, using self-defined XML format language
Speech is write.
Compared with the prior art, beneficial effects of the present invention：The present invention can help the user to carry out whole task process
Planning, Task-decomposing is carried out according to task rank, and carries out tasks carrying according to physical condition, solves complicated of multiple no-manned plane
The practical problems of business, the method has the advantages that principle is easy, plans that flexible, practical, implementation effect is good.
Brief description of the drawings
Fig. 1 is using the structure schematic diagram of method provided by the present invention.
Fig. 2 is the root node schematic diagram in the architectural characteristic storehouse using the behavior tree of method provided by the present invention.
Fig. 3 is using the sequential combination node schematic diagram in the architectural characteristic storehouse of the behavior tree of method provided by the present invention.
Fig. 4 is using the parallel combined node schematic diagram in the architectural characteristic storehouse of the behavior tree of method provided by the present invention.
Fig. 5 is using the selection combined joint schematic diagram in the architectural characteristic storehouse of the behavior tree of method provided by the present invention.
Fig. 6 is using the circulation combined joint schematic diagram in the architectural characteristic storehouse of the behavior tree of method provided by the present invention.
Fig. 7 is using the state leaf node schematic diagram in the architectural characteristic storehouse of the behavior tree of method provided by the present invention.
Fig. 8 is using the behavior leaf node schematic diagram in the architectural characteristic storehouse of the behavior tree of method provided by the present invention.
Fig. 9 is the behavior tree exploded view of two tasks in concrete application example.
Figure 10 is the behavior tree exploded view of the target following task in concrete application example.
Figure 11 is the behavior tree exploded view of the pesticide spraying task in concrete application example.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in figure 1, the present invention includes aerial mission decomposition process and flight behavior storehouse design cycle two parts.Wherein,
Aerial mission decomposition process is the first link, for the individual task or many performed by single rack unmanned plane or multiple UAVs
Individual task, sets up the architectural characteristic storehouse (root node, combined joint, leaf node) of behavior tree, and task is closed according to corresponding logic
System is decomposed and is performed.Flight behavior storehouse design cycle is the second link, for the flight behavior of the unmanned plane of required by task,
Basic act storehouse comprising basic flight behavior is set, and is set comprising the self-defined flight behavior storehouse in the case of special duty.
XML file writes flow for the 3rd link, and multitask is decomposed the behavior tree construction for obtaining, and writes self-defined XML format file.
The detailed step of above-mentioned aerial mission decomposition process is：
(1) the architectural characteristic storehouse of behavior tree is set up, as shown in Fig. 2~8：
Root node characteristic：The traversal that frequency according to setting is carried out from top to bottom performs multiple or single combined joint, often
Secondary execution is backed up to root node certain Status Flag symbol until certain leaf node untill, have successfully, unsuccessfully, run
In, four kinds of Status Flags of mistake symbol.Wherein, tasks carrying success is successfully represented, tasks carrying failure, table in operation is unsuccessfully represented
Show existing task also in the process of implementation, misrepresentation task occurs unpredictable phenomenon.
Combined joint characteristic：Executive mode includes order, parallel, selection, circulation.Order is performed：Sequentially hold from left to right
Row subtree, until during one of subtree returns to failure, operation, error flag symbol, and no longer perform other remaining subtrees, such as
Really all subtrees return to Success Flag symbol, and the node returns to Success Flag and accords with to upper strata.Executed in parallel：Perform all sons simultaneously
Tree, if the number for returning to the successfully subtree of (or failure) is more than the threshold value that sets, and (different parallel nodes can set difference
Threshold value), the node returns to successfully (or failure) identifier to upper strata.Selection is performed：Also referred to as priority selection perform, from a left side to
Right order performs subtree, until one of subtree returns successfully, in operation, error flag accords with, and no longer performs other remainders
Subtree, if all subtrees return failure flags symbol, the node to upper strata return failure flags accord with.Circulation is performed：The section
Point can only include a subtree, and perform the subtree set by lower floor according to the cycle-index for setting, and can be used to change lower straton
The execution frequency of tree, accords with until being finished and returning to Success Flag to upper strata, otherwise returns to identifier in operation.
Leaf segment dot characteristics：Comprising state leaf node, behavior leaf node.State leaf node：Judge whether current state meets
The index of setting, success or failure identifier is returned to upper strata.Behavior leaf node：Selected from basic or self-defined behavior storehouse
And perform the behavior of setting, to upper strata return successfully, failure, in operation or error flag is accorded with.
(2) multitask decomposition is carried out：In the case of multitask, using multi-task state as root node, according to each single
Business and the logical relation of multitask, selecting sequence, parallel, selection, or circulation combined joint are attached with root node, and will be single
Task is attached as the root node of lower floor's subtree with combined joint.
(3) single task decomposition is carried out：In the case of single task, using single task as root node, according to each state, behavior
With the logical relation of single task, selecting sequence, parallel, selection, or circulation combined joint be attached with root node, and by shape
State, behavior are attached as leaf node and combined joint.In the case of multitask, using single task as combined joint lower floor
The root node of subtree, according to the logical relation of each state, behavior and single task, selecting sequence, parallel, selection, or circulation group
Conjunction node is attached with the root node of lower floor's subtree, and state, behavior are attached as leaf node and combined joint.
The detailed step of above-mentioned flight behavior storehouse design cycle is：
(1) basic act storehouse is set：Define and storage unmanned plane be in the basic flight behavior needed for execution task process,
Comprising taking off, cruise, spiral, make a return voyage, humanoid formation, square, circular form into columns.
(2) self-defined behavior storehouse is set：Definition and storage unmanned plane are required during special duty is performed special to fly
Every trade is, such as target following, pesticide spraying etc..
The detailed step that above-mentioned XML file writes flow is：
The behavior tree construction obtained according to Task-decomposing, is write using customized XML format.
It is illustrated using a specific example below, for multiple no-manned plane collaboration multitask application over the ground, is provided with
10 frame unmanned planes, are divided into 6 framves and 4 framves are formed into columns, and one group of unmanned plane carries out target following task, another group of unmanned plane to one piece of region
Pesticide spraying task is carried out to another piece of region., simultaneously in same field takeoff, target area is different at two for two teams' unmanned plane, appoints
After business terminates, airport is returned to respectively.
Step one：
As shown in figure 9, using two completion statuses of task as root node, due to being parallel task, selecting the parallel combined
Node is connected with node, using two single tasks of target following and pesticide spraying as lower floor's subtree with the parallel combined node phase
Connection, and it is 2 to set the parallel combined Node B threshold, then it represents that two formation unmanned planes successfully complete task and make a return voyage.
Step 2：
As shown in Figure 10,6 frame unmanned planes are used as target following task, using the completion status of task as lower floor's subtree
Root node, each behavior meets selection logic in task, therefore using selecting combined joint to be connected with the root node of lower floor subtree,
From left to right, according to priority, it is sequentially connected following subtree.First subtree is sequential combination node, by lower floor's state leaf
Node judges whether to receive instruction of taking off, and receives return combined joint Success Flag symbol, and performed by lower floor's behavior leaf node
Fly and be；Second subtree is sequential combination node, is judged whether to receive formation instruction by lower floor's state leaf node, receives return
Combined joint Success Flag is accorded with, and performs circular formation behavior by lower floor's behavior leaf node；3rd subtree is sequential combination section
Point, is judged whether to receive cruise instruction by lower floor's state leaf node, receives return combined joint Success Flag symbol, and by lower row
For leaf node performs cruise behavior；4th subtree is sequential combination node, for special early warning is set, by lower floor state leaf segment
Point judges that whether power supply, less than amount is specified, is accorded with, and performed by lower floor's behavior leaf node less than combined joint failure flags are returned
Make a return voyage behavior；5th subtree is sequential combination node, is judged whether to reach designated area by lower floor's state leaf node, reaches and returns
Combined joint Success Flag symbol is returned, and 50 target following rows of its lower floor's behavior leaf node are performed by lower floor's circulation combined joint
For identifier in not completing then circulation combined joint return operation when 50 times completes then circulation combined joint when 50 times and returns into
Work(identifier；6th subtree is that single behavior leaf node performs behavior of making a return voyage；
As shown in figure 11,4 frame unmanned planes are used as pesticide spraying task, using the completion status of task as lower floor's subtree
Root node, each behavior meets selection logic in task, therefore using selecting combined joint to be connected with the root node of lower floor subtree,
From left to right, according to priority, it is sequentially connected following subtree.First subtree is sequential combination node, by lower floor's state leaf
Node judges whether to receive instruction of taking off, and receives return combined joint Success Flag symbol, and performed by lower floor's behavior leaf node
Fly and be；Second subtree is sequential combination node, is judged whether to receive formation instruction by lower floor's state leaf node, receives return
Combined joint Success Flag is accorded with, and performs square behavior by lower floor's behavior leaf node；3rd subtree is sequential combination section
Point, is judged whether to receive cruise instruction by lower floor's state leaf node, receives return combined joint Success Flag symbol, and by lower row
For leaf node performs cruise behavior；4th subtree is sequential combination node, for special early warning is set, by lower floor state leaf segment
Point judges that whether power supply, less than amount is specified, is accorded with, and performed by lower floor's behavior leaf node less than combined joint failure flags are returned
Make a return voyage behavior；5th subtree is sequential combination node, is judged whether to reach designated area by lower floor's state leaf node, reaches and returns
Combined joint Success Flag symbol is returned, and 30 pesticide spraying rows of its lower floor's behavior leaf node are performed by lower floor's circulation combined joint
For identifier in not completing then circulation combined joint return operation when 30 times completes then circulation combined joint when 30 times and returns into
Work(identifier；6th subtree is that single behavior leaf node performs behavior of making a return voyage.
Step 3：The several basic flight behavior of simultaneously storing target tracking and pesticide spraying task is defined, respectively take off,
Cruise, spiral, making a return voyage, circle is formed into columns, and square.
Step 4：Two customized special flight behaviors of simultaneously storing target tracking and pesticide spraying task are defined, point
Other target following and pesticide spraying.
Step 5：According to the requirement of XML format, control behavior tree structure diagram carries out writing for XML file, can self-defining
XML format.Customized cannonical format can be according to：Root node (<Mission name=" task names ">), combined joint class
Type (selection combined joint<selectorTree>, sequential combination node<sequenceTree>, the parallel combined node<
parallelTree>, circulation combined joint<Repeat times=" execution number of times ">), leaf segment vertex type (state leaf node<
Condition value=" setting index ">, behavior leaf node<Action name=" aircraft is title ">).For institute
The XML file that design is obtained, under different software platforms, the corresponding resolver of self-developing.
Claims (9)
1. the complex task planing method of a kind of multiple no-manned plane, it is characterised in that comprise the following steps：
1) aerial mission is decomposed；
2) flight behavior storehouse design；
3) behavior tree construction XML file is write.
2. as claimed in claim 1 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 1) in, it is described
What aerial mission was decomposed comprises the following steps that：
(1) the architectural characteristic storehouse of behavior tree is set up：Architectural characteristic according to behavior tree sets up corresponding logical relation storehouse；
(2) multitask decomposition is carried out：Multitask is converted into single task according to the logical relation of behavior tree；
(3) single task decomposition is carried out：Single task is converted to the aircraft in flight behavior storehouse according to the logical relation of behavior tree
For.
3. as claimed in claim 2 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 1) (1st) portion
In point, the architectural characteristic storehouse of the behavior tree includes：Root node and its characteristic, combined joint and its characteristic, leaf node and its spy
Property.
4. as claimed in claim 2 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 1) (2nd) portion
In point, the multitask isolation is included：Sequentially, parallel, selection, circulation.
5. as claimed in claim 2 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 1) (3rd) portion
In point, the single task isolation is included：Sequentially, parallel, selection, circulation.
6. as claimed in claim 1 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 2) in, it is described
What flight behavior storehouse was designed comprises the following steps that：
(1) basic flight behavior storehouse is set：Definition and storage unmanned plane are performing the basic flight behavior needed for task process；
(2) self-defined flight behavior storehouse is set：Definition and storage unmanned plane are required during special duty is performed special to fly
Every trade is.
7. as claimed in claim 6 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 2) (1st) portion
In point, the basic flight behavior storehouse, definition and the basic flight behavior for storing are included：Take off, cruise, spiraling, making a return voyage, it is humanoid
Formation, square, circular formation.
8. as claimed in claim 6 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 2) (2nd) portion
In point, the self-defined flight behavior storehouse, the special flight behavior that definition and the flight behavior for storing are set comprising user oneself,
Voluntarily supplemented according to mission requirements and changed.
9. as claimed in claim 1 a kind of multiple no-manned plane complex task planing method, it is characterised in that in step 3) in, it is described
What behavior tree construction XML file was write comprises the following steps that：
According to the behavior tree construction that decomposition is obtained, file is write using self-defined XML format language.
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| CN112394701A (en) * | 2020-12-10 | 2021-02-23 | 之江实验室 | Multi-robot cloud control system based on cloud-edge-end hybrid computing environment |
| CN113534662A (en) * | 2021-06-04 | 2021-10-22 | 中国人民解放军军事科学院国防科技创新研究院 | Behavior tree-based unmanned system cluster control method |
| CN116430754A (en) * | 2023-06-09 | 2023-07-14 | 北京中兵天工防务技术有限公司 | Unmanned aerial vehicle cluster multitask control semi-physical simulation method |
| CN116430754B (en) * | 2023-06-09 | 2023-09-12 | 北京中兵天工防务技术有限公司 | Unmanned aerial vehicle cluster multitask control semi-physical simulation method |
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