CN106992897A - Information exchange Topology Optimization Method and device in multiple no-manned plane collaboration formation - Google Patents
Information exchange Topology Optimization Method and device in multiple no-manned plane collaboration formation Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/12—Discovery or management of network topologies
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0659—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
Abstract
Information exchange Topology Optimization Method and device in being formed into columns the invention provides a kind of collaboration of multiple no-manned plane.Methods described includes：When multiple no-manned plane collaboration, which is formed into columns, occurs communication failure, the type of the communication failure is obtained；According to the type of the communication failure, deleting communication failure arc or communication failure node are topological to obtain optimizing communication network in communication network topology；The three-dimensional optimal lasting figure of the optimizing communication network topology is obtained, the optimal lasting figure of three-dimensional is the optimization information exchange topology that multiple no-manned plane collaboration is formed into columns.Described device is realized based on method as described above.The present invention can persistently form into columns in the three-dimensional that multiple no-manned plane is constituted to be occurred after communication failure rapid Optimum information exchange topology to avoid occurring unmanned plane collision accident and recover flight pattern.
Description
Technical field
Information exchange topology in being formed into columns the present invention relates to communication technical field, more particularly to a kind of collaboration of multiple no-manned plane is excellent
Change method and device.
Background technology
In cruising phase of taking off, all unmanned planes (UAV) generally pass through point-to-point communication linkage (communication
Links information exchange) is carried out, to form certain flight pattern (formation shape or formation
Geometry), and keep this flight pattern continue towards target area flight.Wherein used communication linkage is referred to as many UAV
Cooperate with the information exchange formed into columns topological (information exchange topology), meanwhile, will be all available between UAV
The collection of communication linkage be collectively referred to as communication network topology (the Communication Network that many UAV collaboration is formed into columns
Topology)。
Because the communication distance between any two positions UAV in information exchange topology is different, cause in information exchange topology
Communication linkage has different communication costs and can consume the corresponding battery electric quantities of UAV or fuel between different UAV.Practical application
In, the communication cost of communication linkage is influenceed by several factors between two UAV, for example, mission requirements, communication distance, flight
Performance, security etc..To simplify explanation, above-mentioned communication cost is directly represented using communication distance.
Meanwhile, the every available battery electric quantities of frame UAV or fuel are limited again.In addition, during formation flight certain frame or
Communication failure may occur for multi rack UAV so that some of current information interaction topology communication linkage can not be used, from
And cause many UAV collaborations formation to continue to keep flight pattern, UAV collision accidents are resulted even in when serious.Therefore, how
By optimizing the information exchange topology that multiple no-manned plane collaboration is formed into columns, to avoid occurring UAV collision accidents and recover flight pattern, together
When reduction UAV the consumption of battery electric quantity or fuel become the technical problem of urgent need to resolve.
The content of the invention
For defect of the prior art, the information exchange topology in being formed into columns the invention provides a kind of collaboration of multiple no-manned plane
Optimization method and device, for this three-dimensional of rapid Optimum after the three-dimensional that multiple no-manned plane is constituted persistently formation generation communication failure
The information exchange topology persistently formed into columns, to avoid occurring unmanned plane collision accident and recover flight pattern, while reducing unmanned plane
Battery electric quantity or fuel consumption.
In a first aspect, the information exchange topological optimization side in being formed into columns the embodiments of the invention provide a kind of collaboration of multiple no-manned plane
Method, methods described includes：
When multiple no-manned plane collaboration, which is formed into columns, occurs communication failure, the type of the communication failure is obtained；
According to the type of the communication failure in communication network topology deleting communication failure arc or communication failure node with
Obtain optimizing communication network topology；
The three-dimensional optimal lasting figure of the optimizing communication network topology is obtained, the optimal lasting figure of three-dimensional is many nothings
The optimization information exchange topology that man-machine coordination is formed into columns.
Alternatively, the step of three-dimensional optimal lasting figure of the acquisition optimizing communication network topology includes：
Calculate the three-dimensional optimal rigidity figure of the optimizing communication network topology；
By each edge in the optimal rigid figure of the three-dimensional be converted into belonging to the optimizing communication network topology an arc or
Two identical but in opposite direction arcs of weights of person obtain the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to described the
The arc that goes out of each node obtains the second digraph in one digraph；It is every in virtual pilotage people's node and first digraph
Three are provided between individual node and goes out arc, and every weights for going out arc of virtual pilotage people's node are identical and more than described
The weights sum of whole arcs in first digraph；
The first shortest arborescence of second digraph is obtained, and deletes virtual described in first shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 3rd digraph T1；
All arcs and its corresponding opposite arc in correspondence first shortest arborescence is deleted in second digraph to obtain
To the 4th digraph；
The second shortest arborescence of the 4th digraph is obtained, and deletes virtual described in second shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 5th digraph T2；
All arcs and its corresponding opposite arc in correspondence second shortest arborescence is deleted in the 4th digraph to obtain
To the 6th digraph；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes virtual described in the 3rd shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph obtain the 8th digraph T and
The quantity m of arc in the 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes meets m=3n-6 for n and m, then the 8th digraph T
For the optimal lasting figure of three-dimensional；
When meeting m<When (3n-6), obtain that the l articles side in the optimal rigid figure of three-dimensional is corresponding to belong to described first
One or two arcs of arc set in digraph, symbol l initial value is 1；
If this article or two articles of arcs are not in the 8th digraph, the l articles side two node of correspondence is obtained described
In-degree in 8th digraph；
When the in-degree of corresponding two node in the l articles side be not equal to 3 and one of in-degree be less than 3 node correspondence the
L bars side when entering arc and belonging to arc set in first digraph, the l articles side of correspondence that the in-degree is less than to 3 node enters
Arc, which is added in the 8th digraph, obtains the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 9th digraph.
Alternatively, the step of three-dimensional optimal lasting figure of the acquisition optimizing communication network topology also includes：
When the l articles in-degree in corresponding two node is equal to 3 and this l articles, corresponding one article of arc belongs to described first
In digraph during arc set, the corresponding one article of arc in the l articles side is added in the 8th digraph and obtains the tenth digraph, note should
The node that arc is pointed to is first node；
In-degree is less than 3 one is found in the tenth digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1
Individual Section Point so that there is the path of fewest number of hops between the Section Point and the first node, and it is described minimum
The opposite arc of the corresponding all arcs in path of hop count is all in first digraph in arc set, by the road of the fewest number of hops
The corresponding all arcs in footpath reversely obtain the 11st digraph；Otherwise this l articles added is deleted from the tenth digraph
The corresponding arc in side, deletes the corresponding two articles of arcs in the l articles side from optimizing communication network topology, recalculates；
If the quantity m of arc is equal to (3n-6) in the 11st digraph, the 11st digraph for it is three-dimensional most
Excellent lasting figure；Otherwise data in 8th digraph are updated to the data in the 11st digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding
Whether one article or two articles of arcs are in the 8th digraph T.
Alternatively, the type according to communication failure deleting communication failure arc or communication in communication network topology
Malfunctioning node is included with the step for obtaining optimizing communication network topology：
If the type of the communication failure is the unicast transmission machine failure of unmanned plane, delete in the communication network topology
The unmanned plane corresponding node it is all go out arc；
If the type of the communication failure is the unicast receiver failure of unmanned plane, delete in the communication network topology
The unmanned plane corresponding node it is all enter arc；
If the type of the communication failure is the unicast transceiver failure of unmanned plane, broadcast transmitter failure or broadcast connect
Receipts machine failure, then delete all of the unmanned plane corresponding node in the communication network topology and enter arc and to go out arc and the node；
Or,
If the type of communication failure is the link interruption between any two unmanned plane, delete in the communication network topology
The corresponding arc of the link；
In the communication network topology, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted
Remove, then the unmanned plane, which is exited, forms into columns and return alone airport.
Second aspect, the information exchange topological optimization dress in being formed into columns the embodiments of the invention provide a kind of collaboration of multiple no-manned plane
Put, described device includes：
Communication failure type acquisition module, for when generation communication failure is formed into columns in multiple no-manned plane collaboration, obtaining institute
State the type of communication failure；
Optimizing communication network topology acquisition module, for being deleted according to the type of the communication failure in communication network topology
Except communication failure arc or communication failure node are topological to obtain optimizing communication network；
Optimize the topological acquisition module of information exchange, for obtaining the three-dimensional optimal lasting of the optimizing communication network topology
Figure, the optimal lasting figure of three-dimensional is the optimization information exchange topology that multiple no-manned plane collaboration is formed into columns.
Alternatively, the topological acquisition module of optimization information exchange includes for performing following steps：
Calculate the three-dimensional optimal rigidity figure of the optimizing communication network topology；
By each edge in the optimal rigid figure of the three-dimensional be converted into belonging to the optimizing communication network topology an arc or
Two identical but in opposite direction arcs of weights of person obtain the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to described the
The arc that goes out of each node obtains the second digraph in one digraph；It is every in virtual pilotage people's node and first digraph
Three are provided between individual node and goes out arc, and every weights for going out arc of virtual pilotage people's node are identical and more than described
The weights sum of whole arcs in first digraph；
The first shortest arborescence of second digraph is obtained, and deletes virtual described in first shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 3rd digraph T1；
All arcs and its corresponding opposite arc in correspondence first shortest arborescence is deleted in second digraph to obtain
To the 4th digraph；
The second shortest arborescence of the 4th digraph is obtained, and deletes virtual described in second shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 5th digraph T2；
All arcs and its corresponding opposite arc in correspondence second shortest arborescence is deleted in the 4th digraph to obtain
To the 6th digraph；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes virtual described in the 3rd shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph obtain the 8th digraph T and
The quantity m of arc in the 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes meets m=3n-6 for n and m, then the 8th digraph T
For the optimal lasting figure of three-dimensional；
When meeting m<When (3n-6), obtain that the l articles side in the optimal rigid figure of three-dimensional is corresponding to belong to described first
One or two arcs of arc set in digraph, symbol l initial value is 1；
If this article or two articles of arcs are not in the 8th digraph, the l articles side two node of correspondence is obtained described
In-degree in 8th digraph；
When the in-degree of corresponding two node in the l articles side be not equal to 3 and one of in-degree be less than 3 node correspondence the
When entering arc and belonging to arc set in first digraph of l bars side, what the in-degree was less than the l articles side of correspondence of 3 node enters arc
It is added in the 8th digraph and obtains the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 9th digraph.
Alternatively, the topological acquisition module of optimization information exchange, which is additionally operable to execution following steps, includes：
When the l articles in-degree in corresponding two node is equal to 3 and this l articles, corresponding one article of arc belongs to described first
In digraph during arc set, the corresponding one article of arc in the l articles side is added in the 8th digraph and obtains the tenth digraph, note should
The node that arc is pointed to is first node；
In-degree is less than 3 one is found in the tenth digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1
Individual Section Point so that there is the path of fewest number of hops between the Section Point and the first node, and it is described minimum
The opposite arc of the corresponding all arcs in path of hop count is all in first digraph in arc set, by the road of the fewest number of hops
The corresponding all arcs in footpath reversely obtain the 11st digraph；Otherwise this l articles added is deleted from the tenth digraph
The corresponding arc in side, deletes the corresponding two articles of arcs in the l articles side from optimizing communication network topology, recalculates；
If the quantity m of arc is equal to (3n-6) in the 11st digraph, the 11st digraph for it is three-dimensional most
Excellent lasting figure；Otherwise data in 8th digraph are updated to the data in the 11st digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding
Whether one article or two articles of arcs are in the 8th digraph T.
Alternatively, the communication failure type acquisition module includes for performing following steps：
If the type of the communication failure is the unicast transmission machine failure of unmanned plane, delete in the communication network topology
The unmanned plane corresponding node it is all go out arc；
If the type of the communication failure is the unicast receiver failure of unmanned plane, delete in the communication network topology
The unmanned plane corresponding node it is all enter arc；
If the type of the communication failure is the unicast transceiver failure of unmanned plane, broadcast transmitter failure or broadcast connect
Receipts machine failure, then delete all of the unmanned plane corresponding node in the communication network topology and enter arc and to go out arc and the node；
Or,
If the type of communication failure is the link interruption between any two unmanned plane, delete in the communication network topology
The corresponding arc of the link；
In the communication network topology, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted
Remove, then the unmanned plane, which is exited, forms into columns and return alone airport.
Compared with prior art, when communication failure occurs for the three-dimensional lasting formation that the present invention can be constituted in multiple no-manned plane
The information exchange topology that this three-dimensional of rapid Optimum is persistently formed into columns, to avoid occurring unmanned plane collision accident and recover flight pattern,
The consumption of the battery electric quantity or fuel of unmanned plane is reduced simultaneously.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these figures.
Fig. 1 is the flow of the information exchange Topology Optimization Method during multiple no-manned plane collaboration provided in an embodiment of the present invention is formed into columns
Schematic diagram；
Fig. 2 (a)~(b) is the three-dimensional formation and relative position persistently formed into columns of 5 frame UAV compositions in the embodiment of the present invention
Schematic diagram；No. 1, No. 2, No. 3, No. 4 and No. 5 position of UAV1, UAV2, UAV3, UAV4 and UAV5 respectively in formation.
The optimal information interaction that Fig. 3 forms into columns during without communication failure for above-mentioned multiple no-manned plane collaboration provided in an embodiment of the present invention
Topological schematic diagram；
Fig. 4 (a)~(e) is that the UAV1 during above-mentioned multiple no-manned plane collaboration is formed into columns occurs to use Fig. 1 during unicast transmission machine failure
Method obtains the process schematic for the optimization information exchange topology that multiple no-manned plane collaboration is formed into columns；
Fig. 5 is the information exchange topological optimization device block diagram during multiple no-manned plane collaboration provided in an embodiment of the present invention is formed into columns.
Embodiment
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
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Before the above method is described in detail, the formation control persistently formed into columns to the three-dimensional that multiple no-manned plane is constituted first
Method processed, communication network topology and information exchange topology are illustrated.
The formation control method that the three-dimensional of multiple no-manned plane composition is persistently formed into columns is a kind of formation control method based on distance,
Its basic thought is：A frame or multiple UAVs in formation are as formation pilotage people (formation leader) according to predetermined
Formation reference track flight, remaining unmanned plane flight course need simultaneously keep and other 3 frame unmanned plane between away from
From constant, so as to realize the holding to the flight pattern of three dimensions.
Assuming that n framves unmanned plane (UAV) needs to use the three-dimensional formation control method persistently formed into columns to form and keep one
It is { 1,2 ..., n } that n position in the flight pattern S, S of three dimensions is numbered respectively, and all UAV can serve as forming into columns
Pilotage people, every frame UAV can carry out information exchange by point-to-point communication link and other any UAV, each communication linkage
Communication cost is determined by its corresponding communication distance.It therefore, it can be represented to compile with a weighted and directed diagraph D=(V, A, W, P)
All available communication linkages between UAV in team, and referred to as communication network topology：
(1) V={ vi, 1≤i≤n is the node set in figure, wherein viRepresent the i-th frame unmanned plane UAVi。
(2)It is the arc set in figure, wherein aijRepresent from UAViTo UAVjHave one
Individual available communication linkage is so that UAViUAV can be sent information toj。
(3) W={ w (aij)},aij∈ A are the weights set of every arc in figure, wherein w (aij) represent aijCommunication cost.
(4) P={ pi, 1≤i≤n is particular location set of every frame unmanned plane in flight pattern S, wherein the team that will form into columns
It is { 1,2 ..., n } that n position in shape S is numbered respectively, then 1≤pi≤ n represents UAViParticular location in S.
It can be seen from description above, every frame unmanned plane during the three-dimensional of multiple no-manned plane composition is persistently formed into columns at most is only needed to
From other 3 frame unmanned plane receive informations, it means that all available communication linkages need not be used just to realize formation team
The formation and holding of shape.Therefore, the three-dimensional of multiple no-manned plane is persistently formed into columns information exchange topology T=(V, A*,W*, P) and it is its communication
Network topology D=(V, A, W, a P) special subgraph, whereinW (T) is made to represent that information exchange is opened up
The corresponding formation communication costs of T are flutterred, that is, are hadThe information that the three-dimensional of multiple no-manned plane composition is persistently formed into columns
Interaction topology T has the property that.
Theorem 1:The information exchange topology T that the three-dimensional of multiple no-manned plane composition is persistently formed into columns must be its communication network topology D
A three-dimensional persistently scheme；Vice versa.
The validity of information exchange Topology Optimization Method in being formed into columns for the multiple no-manned plane collaboration that the prominent present invention is provided, under
The above method is described in detail with accompanying drawing in conjunction with the embodiments for face.
Information exchange Topology Optimization Method in a kind of multiple no-manned plane collaboration formation that Fig. 1 provides for one embodiment of the invention
Schematic flow sheet, this method includes：
S1, when multiple no-manned plane collaboration form into columns occur communication failure when, obtain the type of the communication failure.
In practical application, multiple no-manned plane collaboration is formed into columns after generation communication failure, to shorten the execution time, formation Ying Yifen
The mode of cloth is topological to optimize information exchange, and all UAV result of calculation must be consistent, therefore all UAV must
Same communication failure information must be learnt in time.Therefore, based on method of the prior art, it is assumed that each UAV can make
Same communication failure letter is obtained with a broadcast communication channel (Broadcast Communication channel, BC)
Breath：(1) each UAV has a unicast transmission machine and a unicast receiver to carry out point-to-point communication, and each UAV has one
Individual broadcast transmitter and a broadcasting receiver by BC to carry out broadcast communication.(2) each UAV is every TactiveSecond can pass through
BC reports its state.(3) when a UAV detects some communication failure, it can notify other UAV by BC immediately.
In addition to the four kinds of communication failures considered in the prior art, it is also contemplated that two kinds of communication failures in addition：Broadcast transmitter
Failure and broadcasting receiver failure.All six kinds of communication failure types are as shown in table 1.
Table 1
When multiple no-manned plane collaboration, which is formed into columns, occurs communication failure, the embodiment of the present invention is diagnosed using following communication failure
Strategy obtains the type of the communication failure：
(1) UAV is worked asiGeneration unicast transmission machine failure, unicast receiver failure, unicast transceiver failure or broadcast reception
During any one of machine failure communication failure, UAViItself it is able to detect that this communication failure, UAViThis communication event will be recorded
Hinder timestamp when occurring and this communication failure and corresponding timestamp information are notified by other UAV by BC.
(2) UAV is worked asiDuring generation broadcast transmitter failure, UAViItself it is able to detect that this communication failure but can not be by BC
Notify other UAV, TactiveAfter second, other UAV are due to that can not receive UAViThe state reported will judge UAViOccur in that broadcast
Transmitter failure, and record timestamp when this communication failure occurs.
(3) when from UAViTo UAVjCommunication linkage occur link interruption and form into columns keep rank during UAViNeed
Send information to UAVj, TactiveAfter second, if UAVjItself do not occur unicast receiver failure and received not over BC
To UAViUnicast transmission machine fault message, UAVjIt will judge from UAViTo UAVjCommunication linkage occur in that link interruption, then
UAVjThe timestamp of this communication failure will be recorded, this communication failure and corresponding timestamp information are then notified by other by BC
UAV。
S2, according to the type of the communication failure in communication network topology deleting communication failure arc or communication failure node
To obtain optimizing communication network topology.
For example：If UAVj occur unicast transmission machine failure, delete vj it is all go out arc；Connect if unicast occurs for UAVj
Receipts machine failure, then delete vj it is all enter arc；If UAVj occur unicast transceiver failure or broadcast transmitter failure or
Broadcasting receiver failure, then delete vj all arcs；If link interruption occurs for the communication linkage from UAVj to UAVk, delete
ajk；If vj all arcs are all deleted, delete vj and make P in PrjValue for-| pj|, that is, mean that UAVj should
This exits formation.
S3, the three-dimensional optimal lasting figure for obtaining the optimizing communication network topology, the optimal lasting figure of three-dimensional is this
The optimization information exchange topology that multiple no-manned plane collaboration is formed into columns.
The embodiments of the invention provide one kind based on three-dimensional optimal rigidity figure and shortest arborescence (Three-
Dimensional Optimal Rigid Graph and Minimum Cost Arborescence, 3DORG_MCA) letter
Breath interaction topological optimization algorithm is topological to obtain the optimization information exchange that multiple no-manned plane collaboration is formed into columns.It is every when a communication failure occurs
Individual UAV will perform this algorithm.By taking UAVi as an example, when UAVi by BC from other UAV receive communication failure notify or
When person detects itself generation communication failure, this algorithm will be run and obtain optimization information exchange topology Tr.When each UAV performs this
After algorithm, T will be switched torTo ensure UAV safety and fast quick-recovery flight pattern.The basic step of this algorithm is as shown in table 2.
Table 2
It should be noted that table 2 provides the three-dimensional of the prior art used in the Step5.2 of algorithm optimal rigidity figure
Generating algorithm, its basic step as shown in table 3, time complexity be about O (20 × | V |4)。
Table 3
It should be noted simultaneously that, table 2 provides minimum tree-like in Step5.5, Step5.7 and Step5.9 of algorithm
Figure (Minimum Cost Arborescence, MCA) refers to the minimum spanning tree of a weighted and directed diagraph, used herein
Be Gabow et al. propose shortest arborescence generating algorithm, its computation complexity be O (| E |+| V | × log | V |).
The time complexity of algorithm shown in table 2 is mainly determined by Step5 time complexity, and Step5 time is complicated
Degree is mainly determined by Step5.2, Step5.5, Step5.7 and Step5.9, because Step5.2 time complexity is about O (20
×|Vr|4), Step5.5, Step5.7 and Step5.9 time complexity may each be about O (| Ar|+|Vr|×log|Vr|), so table
2 time complexities that algorithm is provided be about O (20 × | Vr|4+3×(|Ar|+|Vr|×log|Vr|))。
Assuming that a three-dimensional is persistently formed into columns and is made up of 5 frame unmanned planes (UAV1, UAV2, UAV3, UAV4 and UAV5), wherein often
Frame unmanned plane can serve as the pilotage people formed into columns.They need to be formed and keep a three dimensions team as shown in Fig. 2 (a)
Shape, it is { 1,2,3,4,5 } that all positions therein are numbered respectively, and UAV1, UAV2, UAV3, UAV4 and UAV5 are respectively the 1 of formation
Number, No. 2, No. 3, No. 4 and No. 5 positions；Shown in their relative position such as Fig. 2 (a)；If using No. 4 positions in formation as
Shown in coordinate such as Fig. 2 (b) of each position in the origin of coordinate system, the then formation that multiple no-manned plane collaboration is formed into columns.When without logical
When believing failure, multiple no-manned plane collaboration is formed into columns and interacts topology to form and keep this formation using optimal information as shown in Figure 3,
Wherein UAV1 cooperates with the pilotage people formed into columns as the multiple no-manned plane.
When unicast transmission machine failure occurs for UAV1, the algorithm provided according to table 2 cooperates with the letter formed into columns to the multiple no-manned plane
Breath interaction topology is optimized, and its main process is as follows：
(1) in Step2, v in current formation traffic diagram D=(V, A, W, P) is deleted1It is all go out arc obtain optimization form into columns
Traffic diagram Dr=(Vr,Ar,Wr,Pr)。
(2) in Step5.2, the three-dimensional optimal rigid nomography generation according to table 3 obtains Dr=(Vr,Ar,Wr,Pr)
The corresponding optimal rigidity figure of three-dimensionalAs shown in Fig. 4 (a).
(3) in Step5.5, obtain the second digraph D 'RrThe first shortest arborescence T1', such as shown in Fig. 4 (b), then will
T1' in v0And v0Go out arc delete after obtain T1。
(4) in Step5.7, the 4th digraph D is obtained "RrThe second shortest arborescence T '2, such as shown in Fig. 4 (c), then will
T′2In v0And v0Go out arc delete after obtain T2。
(5) in Step5.9, the 6th digraph D is obtained " 'RrThe second shortest arborescence T '3, such as shown in Fig. 4 (d), then
By T '3In v0And v0Go out arc delete after obtain T3。
(6) in Step5.10, by T1、T2And T3Merging obtains digraph Tr, such as shown in Fig. 4 (e).
(7) due to TrThe sum and R of middle arcrMiddle side it is total identical, meet Step5.11 condition, therefore TrIt is RrIt is right
The optimal lasting figure of a three-dimensional answered, i.e. TrIt is the optimization information exchange topology that this many unmanned collaboration is formed into columns, wherein UAV2 conducts
The new pilotage people that multiple no-manned plane collaboration is formed into columns.
The embodiment of the present invention additionally provides the information exchange topological optimization device during a kind of multiple no-manned plane collaboration is formed into columns, and such as schemes
Shown in 5, described device includes：
Communication failure type acquisition module M1, for when generation communication failure is formed into columns in multiple no-manned plane collaboration, obtaining
The type of the communication failure；
Optimizing communication network topology acquisition module M2, for according to the type of the communication failure in communication network topology
Deleting communication failure arc or communication failure node are topological to obtain optimizing communication network；
Optimize the topological acquisition module M3 of information exchange, for obtaining the three-dimensional optimal lasting of the optimizing communication network topology
Figure, the optimal lasting figure of three-dimensional is the optimization information exchange topology that multiple no-manned plane collaboration is formed into columns.
Alternatively, the topological acquisition module M3 of optimization information exchange includes for performing following steps：
Calculate the three-dimensional optimal rigidity figure of the optimizing communication network topology；
By each edge in the optimal rigid figure of the three-dimensional be converted into belonging to the optimizing communication network topology an arc or
Two identical but in opposite direction arcs of weights of person obtain the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to described the
The arc that goes out of each node obtains the second digraph in one digraph；It is every in virtual pilotage people's node and first digraph
Three are provided between individual node and goes out arc, and every weights for going out arc of virtual pilotage people's node are identical and more than described
The weights sum of whole arcs in first digraph；
The first shortest arborescence of second digraph is obtained, and deletes virtual described in first shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 3rd digraph T1；
All arcs and its corresponding opposite arc in correspondence first shortest arborescence is deleted in second digraph to obtain
To the 4th digraph；
The second shortest arborescence of the 4th digraph is obtained, and deletes virtual described in second shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 5th digraph T2；
All arcs and its corresponding opposite arc in correspondence second shortest arborescence is deleted in the 4th digraph to obtain
To the 6th digraph；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes virtual described in the 3rd shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph obtain the 8th digraph T and
The quantity m of arc in the 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes meets m=3n-6 for n and m, then the 8th digraph T
For the optimal lasting figure of three-dimensional；
When meeting m<When (3n-6), obtain that the l articles side in the optimal rigid figure of three-dimensional is corresponding to belong to described first
One or two arcs of arc set in digraph, symbol l initial value is 1；
If this article or two articles of arcs are not in the 8th digraph, the l articles side two node of correspondence is obtained described
In-degree in 8th digraph；
When the in-degree of corresponding two node in the l articles side be not equal to 3 and one of in-degree be less than 3 node correspondence the
When entering arc and belonging to arc set in first digraph of l bars side, what the in-degree was less than the l articles side of correspondence of 3 node enters arc
It is added in the 8th digraph and obtains the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 9th digraph.
Alternatively, the optimization information exchange topology acquisition module M3, which is additionally operable to execution following steps, includes：
When the l articles in-degree in corresponding two node is equal to 3 and this l articles, corresponding one article of arc belongs to described first
In digraph during arc set, the corresponding one article of arc in the l articles side is added in the 8th digraph and obtains the tenth digraph, note should
The node that arc is pointed to is first node；
In-degree is less than 3 one is found in the tenth digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1
Individual Section Point so that there is the path of fewest number of hops between the Section Point and the first node, and it is described minimum
The opposite arc of the corresponding all arcs in path of hop count is all in first digraph in arc set, by the road of the fewest number of hops
The corresponding all arcs in footpath reversely obtain the 11st digraph；Otherwise this l articles added is deleted from the tenth digraph
The corresponding arc in side, deletes the corresponding two articles of arcs in the l articles side from optimizing communication network topology, recalculates；
If the quantity m of arc is equal to (3n-6) in the 11st digraph, the 11st digraph for it is three-dimensional most
Excellent lasting figure；Otherwise data in 8th digraph are updated to the data in the 11st digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding
Whether one article or two articles of arcs are in the 8th digraph T.
Alternatively, the communication failure type acquisition module M1 includes for performing following steps：
If the type of the communication failure is the unicast transmission machine failure of unmanned plane, delete in the communication network topology
The unmanned plane corresponding node it is all go out arc；
If the type of the communication failure is the unicast receiver failure of unmanned plane, delete in the communication network topology
The unmanned plane corresponding node it is all enter arc；
If the type of the communication failure is the unicast transceiver failure of unmanned plane, broadcast transmitter failure or broadcast connect
Receipts machine failure, then delete all of the unmanned plane corresponding node in the communication network topology and enter arc and to go out arc and the node；
Or,
If the type of communication failure is the link interruption between any two unmanned plane, delete in the communication network topology
The corresponding arc of the link；
In the communication network topology, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted
Remove, then the unmanned plane, which is exited, forms into columns and return alone airport.
It should be noted that the information exchange topological optimization during multiple no-manned plane collaboration provided in an embodiment of the present invention is formed into columns is filled
Put and be equally applicable to said apparatus, the embodiment of the present invention with the one-to-one relation of the above method, the implementation detail of the above method
No longer said system is described in detail.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；Ginseng
The present invention is described in detail according to foregoing embodiments, those skilled in the art should be understood：It still can be right
Technical scheme described in foregoing embodiments is modified, or which part or all technical characteristic are equally replaced
Change；And these modifications or replacement, the essence of appropriate technical solution is departed from the model of various embodiments of the present invention technical scheme
Enclose, it all should cover among the claim of the present invention and the scope of specification.
Claims (8)
1. the information exchange Topology Optimization Method in a kind of multiple no-manned plane collaboration formation, it is characterised in that methods described includes：
When multiple no-manned plane collaboration, which is formed into columns, occurs communication failure, the type of the communication failure is obtained；
According to the type of the communication failure in communication network topology deleting communication failure arc or communication failure node to obtain
Optimizing communication network topology；
The three-dimensional optimal lasting figure of the optimizing communication network topology is obtained, the optimal lasting figure of three-dimensional is the multiple no-manned plane
Cooperate with the optimization information exchange topology formed into columns.
2. the information exchange Topology Optimization Method in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
The step of three-dimensional optimal lasting figure of the acquisition optimizing communication network topology, includes：
Calculate the three-dimensional optimal rigidity figure of the optimizing communication network topology；
Each edge in the optimal rigid figure of the three-dimensional is converted into belonging to an arc or two for the optimizing communication network topology
The identical but in opposite direction arc of bar weights obtains the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph has to described first
Into figure, the arc that goes out of each node obtains the second digraph；Virtual pilotage people's node in first digraph with each saving
Three, which are provided with, between point goes out arc, and every weights for going out arc of virtual pilotage people's node are identical and more than described first
The weights sum of whole arcs in digraph；
The first shortest arborescence of second digraph is obtained, and deletes and is virtually navigated described in first shortest arborescence
Person's node and its it is corresponding go out arc obtain the 3rd digraph T1；
Delete in second digraph all arcs and its corresponding opposite arc in correspondence first shortest arborescence and obtain the
Four digraphs；
The second shortest arborescence of the 4th digraph is obtained, and deletes and is virtually navigated described in second shortest arborescence
Person's node and its it is corresponding go out arc obtain the 5th digraph T2；
Delete in the 4th digraph all arcs and its corresponding opposite arc in correspondence second shortest arborescence and obtain the
Six digraphs；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes and is virtually navigated described in the 3rd shortest arborescence
Person's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph and obtain the 8th digraph T and described
The quantity m of arc in 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes is n and m meets m=3n-6, then the 8th digraph T is three
Tie up optimal lasting figure；
When meeting m<When (3n-6), obtaining the l articles side in the optimal rigid figure of three-dimensional, corresponding to belong to described first oriented
One or two arcs of arc set in figure, symbol l initial value is 1；
If this article or two articles of arcs are not in the 8th digraph, the l articles side two node of correspondence is obtained the described 8th
In-degree in digraph；
When the in-degree of corresponding two node in the l articles side is not equal to the l articles of the correspondence of 3 and node of one of in-degree less than 3
When entering arc and belonging to arc set in first digraph of side, the arc that enters that the in-degree is less than to the l articles side of correspondence of 3 node adds
It is added in the 8th digraph and obtains the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is three-dimensional optimal lasting figure；
Otherwise data in 8th digraph are updated to the data in the 9th digraph.
3. the information exchange Topology Optimization Method in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
The step of three-dimensional optimal lasting figure of the acquisition optimizing communication network topology, also includes：
When the l articles in-degree in corresponding two node is equal to 3 and this l articles, to belong to described first oriented for corresponding one article of arc
In figure during arc set, the corresponding one article of arc in the l articles side is added in the 8th digraph and obtains the tenth digraph, remembers that the arc refers to
To node be first node；
In-degree is found in the tenth digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1 and is less than one of 3 the
Two nodes so that there is the path of fewest number of hops, and the fewest number of hops between the Section Point and the first node
The corresponding all arcs in path opposite arc all in first digraph in arc set, by the path pair of the fewest number of hops
All arcs answered reversely obtain the 11st digraph；Otherwise the l articles side pair added is deleted from the tenth digraph
The arc answered, deletes the corresponding two articles of arcs in the l articles side from optimizing communication network topology, recalculates；
If the quantity m of arc is equal to (3n-6) in the 11st digraph, the 11st digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 11st digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding one article
Or whether two articles of arcs are in the 8th digraph T.
4. the information exchange Topology Optimization Method in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
The type according to the communication failure in communication network topology deleting communication failure arc or communication failure node to obtain
The step of optimizing communication network topology includes：
If the type of the communication failure is the unicast transmission machine failure of unmanned plane, the nothing in the communication network topology is deleted
Man-machine corresponding node it is all go out arc；
If the type of the communication failure is the unicast receiver failure of unmanned plane, the nothing in the communication network topology is deleted
Man-machine corresponding node it is all enter arc；
If the type of the communication failure is unicast transceiver failure, broadcast transmitter failure or the broadcasting receiver of unmanned plane
Failure, then delete all of the unmanned plane corresponding node in the communication network topology and enter arc and to go out arc and the node；
Or,
If the type of communication failure is the link interruption between any two unmanned plane, the chain in the communication network topology is deleted
Connect corresponding arc；
In the communication network topology, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted,
Then the unmanned plane, which is exited, forms into columns and returns alone airport.
5. the information exchange topological optimization device in a kind of multiple no-manned plane collaboration formation, it is characterised in that described device includes：
Communication failure type acquisition module, for when generation communication failure is formed into columns in multiple no-manned plane collaboration, obtaining described logical
Believe the type of failure；
Optimizing communication network topology acquisition module is logical for being deleted according to the type of the communication failure in communication network topology
Letter failure arc or communication failure node are topological to obtain optimizing communication network；
Optimize the topological acquisition module of information exchange, the three-dimensional optimal lasting figure for obtaining the optimizing communication network topology, institute
It is the optimization information exchange topology that multiple no-manned plane collaboration is formed into columns to state three-dimensional optimal lasting figure.
6. the information exchange topological optimization device in multiple no-manned plane collaboration formation according to claim 5, it is characterised in that
The topological acquisition module of optimization information exchange includes for performing following steps：
Calculate the three-dimensional optimal rigidity figure of the optimizing communication network topology；
Each edge in the optimal rigid figure of the three-dimensional is converted into belonging to an arc or two for the optimizing communication network topology
The identical but in opposite direction arc of bar weights obtains the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph has to described first
Into figure, the arc that goes out of each node obtains the second digraph；Virtual pilotage people's node in first digraph with each saving
Three, which are provided with, between point goes out arc, and every weights for going out arc of virtual pilotage people's node are identical and more than described first
The weights sum of whole arcs in digraph；
The first shortest arborescence of second digraph is obtained, and deletes and is virtually navigated described in first shortest arborescence
Person's node and its it is corresponding go out arc obtain the 3rd digraph T1；
Delete in second digraph all arcs and its corresponding opposite arc in correspondence first shortest arborescence and obtain the
Four digraphs；
The second shortest arborescence of the 4th digraph is obtained, and deletes and is virtually navigated described in second shortest arborescence
Person's node and its it is corresponding go out arc obtain the 5th digraph T2；
Delete in the 4th digraph all arcs and its corresponding opposite arc in correspondence second shortest arborescence and obtain the
Six digraphs；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes and is virtually navigated described in the 3rd shortest arborescence
Person's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph and obtain the 8th digraph T and described
The quantity m of arc in 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes is n and m meets m=3n-6, then the 8th digraph T is three
Tie up optimal lasting figure；
When meeting m<When (3n-6), obtaining the l articles side in the optimal rigid figure of three-dimensional, corresponding to belong to described first oriented
One or two arcs of arc set in figure, symbol l initial value is 1；
If this article or two articles of arcs are not in the 8th digraph, the l articles side two node of correspondence is obtained the described 8th
In-degree in digraph；
When the in-degree of corresponding two node in the l articles side is not equal to the l articles of the correspondence of 3 and node of one of in-degree less than 3
When entering arc and belonging to arc set in first digraph of side, what the in-degree was less than the l articles side of correspondence of 3 node enters arc addition
The 9th digraph is obtained into the 8th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is three-dimensional optimal lasting figure；
Otherwise data in 8th digraph are updated to the data in the 9th digraph.
7. the information exchange topological optimization device in multiple no-manned plane collaboration formation according to claim 5, it is characterised in that
The topological acquisition module of optimization information exchange, which is additionally operable to execution following steps, to be included：
When the l articles in-degree in corresponding two node is equal to 3 and this l articles, to belong to described first oriented for corresponding one article of arc
In figure during arc set, the corresponding one article of arc in the l articles side is added in the 8th digraph and obtains the tenth digraph, remembers that the arc refers to
To node be first node；
In-degree is found in the tenth digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1 and is less than one of 3 the
Two nodes so that there is the path of fewest number of hops, and the fewest number of hops between the Section Point and the first node
The corresponding all arcs in path opposite arc all in first digraph in arc set, by the path pair of the fewest number of hops
All arcs answered reversely obtain the 11st digraph；Otherwise the l articles side pair added is deleted from the tenth digraph
The arc answered, deletes the corresponding two articles of arcs in the l articles side from optimizing communication network topology, recalculates；
If the quantity m of arc is equal to (3n-6) in the 11st digraph, the 11st digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 11st digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding one article
Or whether two articles of arcs are in the 8th digraph T.
8. the information exchange topological optimization device in multiple no-manned plane collaboration formation according to claim 5, it is characterised in that
The communication failure type acquisition module includes for performing following steps：
If the type of the communication failure is the unicast transmission machine failure of unmanned plane, the nothing in the communication network topology is deleted
Man-machine corresponding node it is all go out arc；
If the type of the communication failure is the unicast receiver failure of unmanned plane, the nothing in the communication network topology is deleted
Man-machine corresponding node it is all enter arc；
If the type of the communication failure is unicast transceiver failure, broadcast transmitter failure or the broadcasting receiver of unmanned plane
Failure, then delete all of the unmanned plane corresponding node in the communication network topology and enter arc and to go out arc and the node；
Or,
If the type of communication failure is the link interruption between any two unmanned plane, the chain in the communication network topology is deleted
Connect corresponding arc；
In the communication network topology, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted,
Then the unmanned plane, which is exited, forms into columns and returns alone airport.
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| CN111026104A (en) * | 2019-10-18 | 2020-04-17 | 合肥工业大学 | Multi-agent system quick response method and device under emergency |
| CN110794867B (en) * | 2019-10-18 | 2020-10-30 | 合肥工业大学 | Unmanned aerial vehicle formation information interaction topology intelligent decision method and device under communication interference |
| CN110879608B (en) * | 2019-10-18 | 2023-02-28 | 合肥工业大学 | Unmanned system formation rapid self-adaptive decision-making method and device under uncertain environment |
| CN110933639A (en) * | 2019-11-05 | 2020-03-27 | 合肥工业大学 | Information interaction topology optimization method and device for unmanned aerial vehicle cooperative situation awareness network |
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