CN107197474A - The fault-tolerant optimization method and device of communication topology in multiple no-manned plane collaboration formation - Google Patents
The fault-tolerant optimization method and device of communication topology in multiple no-manned plane collaboration formation Download PDFInfo
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Abstract
The fault-tolerant optimization method and device of communication topology in being formed into columns the invention provides a kind of collaboration of multiple no-manned plane.Methods described includes：The formation that S1, the three-dimensional for cooperateing with needs of forming into columns to constitute according to multiple no-manned plane are persistently formed into columns obtains formation traffic diagram；S2, when multiple no-manned plane collaboration form into columns occur communication failure when, according to the type of the communication failure in the formation traffic diagram deleting communication failure arc or communication failure node to obtain the first reconstruct formation traffic diagram；S3, the corresponding optimal lasting figure of three-dimensional of the first reconstruct formation traffic diagram, the as first optimal reconstruct communication topology are obtained according to communication topology restructing algorithm；S4, the configuration of each position and the communication topology restructing algorithm formed into columns according to the described first optimal reconstruct communication topology, multiple no-manned plane collaboration obtain and meet preparatory condition n ＞ | V |！The second optimal reconstruct communication topology be re-optimization communication topology that multiple no-manned plane collaboration is formed into columns.
Description
Technical field
Communication 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 fault-tolerant 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 be referred to as more nobody
Information exchange topological (information exchange topology), communication topology that machine collaboration is formed into columns
(communication topology), connection topological (connection topology), message structure (Information
Structure) or information topology (InformationTopology), they are all available communication linkages between UAV
A part in set.For unified presentation, " communication topology " this title used below.Meanwhile, will be all available between UAV
Communication linkage collection be collectively referred to as multiple no-manned plane collaboration form into columns formation traffic diagram (Formation Communication
Graph)。
Because the communication distance between any two positions UAV in communication topology is different, cause in communication topology difference UAV it
Between communication linkage there are different communication costs and the corresponding battery electric quantities of UAV or fuel can be consumed.In practical application, two
The communication cost of communication linkage is influenceed by several factors between UAV, for example, mission requirements, communication distance, flying quality, peace
Full property 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 some or
Communication failure may occur for multiple UAV so that some of present communications topology communication linkage can not be used, so as to lead
Cause UAV to continue to keep flight pattern, UAV collision accidents are resulted even in when serious.Therefore, how by optimization more nobody
The communication topology that machine collaboration is formed into columns, to avoid occurring UAV collision accidents and recover formation, while so that the collaboration of this multiple no-manned plane is compiled
Formation communication cost minimum of the team during continuing to keep rank becomes the technical problem of urgent need to resolve.
The content of the invention
For defect of the prior art, the communication topology in being formed into columns the invention provides a kind of collaboration of multiple no-manned plane is fault-tolerant
Optimization method and device, occurs optimizing this three-dimensional persistently after communication failure for persistently forming into columns in the three-dimensional that multiple no-manned plane is constituted
The communication topology of formation, to avoid occurring unmanned plane collision accident and recover formation, while so that this it is three-dimensional persistently form into columns after
The formation communication cost continued during keeping rank is minimum.
In a first aspect, the fault-tolerant optimization side of communication topology in being formed into columns the embodiments of the invention provide a kind of collaboration of multiple no-manned plane
Method, methods described includes：
The formation that S1, the three-dimensional for cooperateing with needs of forming into columns to constitute according to multiple no-manned plane are persistently formed into columns obtains formation traffic diagram；
S2, when the multiple no-manned plane collaboration form into columns occur communication failure when, according to the type of the communication failure described
Deleting communication failure arc or communication failure node are to obtain the first reconstruct formation traffic diagram in formation traffic diagram；
S3, to obtain according to communication topology restructing algorithm corresponding three-dimensional of the first reconstruct formation traffic diagram optimal lasting
Figure, the as first optimal reconstruct communication topology；
S4, each position formed into columns according to the described first optimal reconstruct communication topology, multiple no-manned plane collaboration are configured and described
Communication topology restructing algorithm obtains and meets preparatory condition n ＞ | V |！Second it is optimal reconstruct communication topology be the multiple no-manned plane
Cooperate with the re-optimization communication topology formed into columns；
The position configuration refers to position of each frame unmanned plane in flight pattern in multiple no-manned plane collaboration formation；Communication event
Position before barrier occurs is configured to first position configuration Pr；| V | represent the quantity of unmanned plane in multiple no-manned plane collaboration formation；n
Take 1,2 ..., | V |！.
Second aspect, the fault-tolerant optimization dress of communication topology in being formed into columns the embodiments of the invention provide a kind of collaboration of multiple no-manned plane
Put, it is characterised in that described device includes：
Formation traffic diagram acquisition module, for cooperateing with the team formed into columns and need the three-dimensional constituted persistently to form into columns according to multiple no-manned plane
Shape obtains formation traffic diagram；
First reconstruct formation traffic diagram acquisition module, for the multiple no-manned plane collaboration form into columns occur communication failure when,
According to the type of the communication failure in the formation traffic diagram deleting communication failure arc or communication failure node to obtain
One reconstruct formation traffic diagram；
First optimal reconstruct communication topology acquisition module, for obtaining first reconstruct according to communication topology restructing algorithm
The optimal lasting figure of the corresponding three-dimensional of formation traffic diagram, the as first optimal reconstruct communication topology；
Re-optimization communication topology acquisition module, for being cooperateed with according to the described first optimal reconstruct communication topology, multiple no-manned plane
The each position configuration formed into columns and the communication topology restructing algorithm, which are obtained, meets preparatory condition n ＞ | V |！The second optimal reconstruct
Communication topology is the re-optimization communication topology that the multiple no-manned plane collaboration is formed into columns；
The position configuration refers to position of each frame unmanned plane in flight pattern in multiple no-manned plane collaboration formation；Communication event
Position before barrier occurs is configured to first position configuration Pr；| V | represent the quantity of unmanned plane in multiple no-manned plane collaboration formation；n
Take 1,2 ..., | V |！.
As shown from the above technical solution, the three-dimensional that the present invention can be constituted in multiple no-manned plane, which is persistently formed into columns, occurs communication failure
Afterwards, the communication topology that this three-dimensional is persistently formed into columns is optimized, to avoid occurring unmanned plane collision accident and recover flight pattern, simultaneously
So that this three-dimensional formation communication cost persistently formed into columns during continuing to keep rank is minimum.
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 fault-tolerant optimization method of communication topology 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 formation that the three-dimensional that 5 frame unmanned planes are constituted in the embodiment of the present invention is persistently formed into columns and relative
Position view；No. 1, No. 2, No. 3, No. 4 and No. 5 position of unmanned plane UAV1, UAV2, UAV3, UAV4 and UAV5 respectively in formation
Put；
The optimal communication topology 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
Schematic diagram；
Fig. 4 (a)~(b) is that the UAV2 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 main process schematic diagram for the re-optimization communication topology that multiple no-manned plane collaboration is formed into columns；
Fig. 5 is the fault-tolerant optimization device block diagram of communication topology 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.
The fault-tolerant optimization side of communication topology in a kind of multiple no-manned plane collaboration formation that Fig. 1 provides for one embodiment of the invention
Method, methods described includes：
The formation that S1, the three-dimensional for cooperateing with needs of forming into columns to constitute according to multiple no-manned plane are persistently formed into columns obtains formation traffic diagram.
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 (formationleader) 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 formation traffic diagram：
(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 composition is persistently formed into columns communication topology T=(V, A*,W*, P) and it is its formation
Traffic diagram D=(V, A, W, a P) special subgraph, whereinW (T) is made to represent T pairs of communication topology
The formation communication cost answered, that is, haveThe communication topology T tools that the three-dimensional of multiple no-manned plane composition is persistently formed into columns
There is following characteristic.
Theorem 1:The communication topology T that the three-dimensional of multiple no-manned plane composition is persistently formed into columns must be one of its formation traffic diagram D
Three-dimensional persistently figure；Vice versa.
S2, when the multiple no-manned plane collaboration form into columns occur communication failure when, according to the type of the communication failure described
Deleting communication failure arc or communication failure node are to obtain the first reconstruct formation traffic diagram in formation traffic diagram.
In practical application, after communication failure occurs, cooperate with the fault-tolerant optimization for the communication topology formed into columns should to multiple no-manned plane
It is distributed to obtain the shorter execution time as far as possible, and all UAV result of calculation must be consistent, therefore it is all
UAV must learn same communication failure information in time.Therefore, based on method of the prior art, it is assumed that each UAV
Same communication failure information can be obtained using a broadcast communication channel BC：(1) each UAV has a unicast transmission machine
With a unicast receiver to carry out point-to-point communication, each UAV have a broadcast transmitter and a broadcasting receiver with
Broadcast communication is carried out by BC.(2) each UAV is every TactiveSecond can report its state by BC.(3) when a UAV is detected
During 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, other are then notified by this communication failure of BC and corresponding timestamp information
UAV。
Based on above-mentioned communication failure Diagnostic Strategy, each UAV can obtain the information of communication failure in time, then often
Individual UAV can according to the type of the communication failure in formation traffic diagram deleting communication failure arc or communication failure node to obtain
The first reconstruct formation traffic diagram is taken, is specifically included：
If the type of the communication failure is the unicast transmission machine failure of unmanned plane, deleting should in the formation traffic diagram
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, deleting should in the formation traffic diagram
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 formation traffic diagram 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, deleting should in the formation traffic diagram
Link corresponding arc；
In the formation traffic diagram, 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.
S3, to obtain according to communication topology restructing algorithm corresponding three-dimensional of the first reconstruct formation traffic diagram optimal lasting
Figure, the as first optimal reconstruct communication topology.
In order to calculate the first reconstruct formation traffic diagram Dr=(Vr,Ar,Wr,Pr) three-dimensional optimal lasting figureFollowing scheme can be used：First by the first reconstruct formation traffic diagram DrIt is converted into assigning power non-directed graph Gr；
Then G is calculatedrIt is three-dimensional it is optimal rigidity figure Rr；Finally calculate RrThree-dimensional optimal lasting figure Tr.As shown in table 2, the present invention is implemented
The first optimal reconstruct communication topology that multiple no-manned plane collaboration is formed into columns is obtained using communication topology restructing algorithm in example.Work as communication failure
Each UAV will perform algorithm shown in table 2 during generation.By taking UAVi as an example, lead to when UAVi receives one by BC from other UAV
When believing failure notification or detecting itself generation communication failure, run and the first optimal reconstruct communication topology is obtained after this algorithm
Tr.After each UAV performs this algorithm, T will be switched torTo ensure UAV safety and fast quick-recovery flight pattern.
Table 2
It should be noted that table 2, which is provided, uses the optimal rigidity figure of three-dimensional of the prior art in the Step2 of algorithm
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 the shortest arborescence in Step5, Step7 and Step9 of algorithm
(Minimum Cost Arborescence, MCA) refers to the minimum spanning tree of a weighted and directed diagraph, used herein to be
Gabow et al. propose shortest arborescence generating algorithm, its computation complexity be O (| A |+| V | × log | V |).
The time complexity of algorithm shown in table 2 is mainly determined by Step2, Step5, Step7 and Step9, due to Step2's
Time complexity be about O (20 × | Vr|4), Step5, Step7 and Step9 time complexity may each be about O (| Ar|+|Vr|×
log|Vr|), so the time complexity that table 2 provides algorithm be about O (20 × | Vr|4+3×(|Ar|+|Vr|×log|Vr|))。
S4, each position formed into columns according to the described first optimal reconstruct communication topology, multiple no-manned plane collaboration are configured and described
Communication topology restructing algorithm obtains and meets preparatory condition n ＞ | V |！Second it is optimal reconstruct communication topology be the multiple no-manned plane
Cooperate with the re-optimization communication topology formed into columns.
In practical application, the flying speed that multiple no-manned plane collaboration is formed into columns should be ensured that the multiple no-manned plane is assisted first than very fast
Do not crash to ensure the safety of all unmanned planes between the unmanned plane in forming into columns.Therefore, when there is unmanned plane
During communication failure, multiple no-manned plane collaboration is formed into columns is flown with the first of step S3 the optimal reconstruct communication topology.
It will be appreciated that above-mentioned first optimal reconstruct communication topology can ensure that multiple no-manned plane cooperates with formation safe flight,
But can not now ensure that the formation communication cost that multiple no-manned plane collaboration is formed into columns is minimum.
Therefore, the embodiments of the invention provide a kind of based on UAV place-exchanges (positions of the exchange UAV in flight pattern
Or make some UAV go to fill up another exit the room left by the UAV of formation) the communication formed into columns of multiple no-manned plane collaboration
Topological re-optimization algorithm, the thinking of the algorithm includes：P is configured first against each UAV positionsn, building correspondence satisfaction, " failure is about
The reconstruct formation traffic diagram D of beam "n；Then D is solvednThree-dimensional optimal lasting figure Tn；Finally from all TnIn to select formation logical
Believe the T of Least-costoIt is used as the re-optimization communication topology of this formation.
This algorithm is operated in formation in each remaining UAV, after all remaining UAV have run this algorithm, will be cut
Change to re-optimization communication topology ToTo continue to keep flight pattern flight.By taking UAVi as an example, the basic step such as institute of table 4 of this algorithm
Show.
Table 4
In the Step3 of algorithm shown in table 4, every kind of feasible UAV positions configuration PnMust be | V | the arrangement of individual element, its
In | V | individual element represents the diverse location in flight pattern respectively, be 1 respectively, 2 ..., | V |.Therefore, all feasible Pn
Sum be | V |！(symbol！Represent factorial).In the Step6 of algorithm shown in table 4, some UAV's required for UAV place-exchanges
Displacement is the Euclidean distance between original positions and new position of the UAV in flight pattern.
The core procedure of algorithm is Step4 shown in table 4, and Step4 specific steps are identical with algorithm shown in table 2, so
The Step4 of this algorithm time complexity is about：O(20×|Vr|4+3×(|Ar|+|Vr|×log|Vr|)).Meanwhile, from this table 4
Middle Step2 can be seen that Step4 and can at most run | V |！It is secondary.Therefore, the time complexity of this algorithm be about O ((20 × | Vr|4+
3×(|Ar|+|Vr|×log|Vr|))×|V|！).And due to | Vr|≤| V | and | Ar|≤| V | × (| V | -1), so this algorithm
Time complexity the upper bound for O ((20 × | V |4+3×(|V|2-|V|+|V|×log|V|))×|V|！).
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；If using No. 4 positions in formation as the origin of plane coordinate system, this more nobody
Shown in coordinate such as Fig. 2 (b) of each position in the formation that machine collaboration is formed into columns.When without communication failure, multiple no-manned plane collaboration
Formation is formed and kept this formation using optimal communication topology as shown in Figure 3, and wherein UAV1 is cooperateed with as the multiple no-manned plane
The pilotage people of formation.
When unicast transmission machine failure occurs for UAV2, before causing to form into columns in the communication topology (as shown in Figure 3) that uses
Communication linkage a24(communication linkage from UAV2 to UAV4) and a25(communication linkage from UAV2 to UAV5) can no longer be used.
Therefore, v in current formation traffic diagram D=(V, A, W, P) is deleted first2It is all go out arc obtain the first reconstruct formation traffic diagram Dr
=(Vr,Ar,Wr,Pr)；Then the communication topology restructing algorithm provided according to table 2 obtains the first reconstruct formation traffic diagram pair
The the first optimal reconstruct communication topology answered, shown in first obtained optimal reconstruct communication topology such as Fig. 4 (a), UAV2 is not used
Communication linkage a24And a25Information is sent, and only uses communication linkage a12(communication linkage from UAV1 to UAV2), a32(from UAV3
To UAV2 communication linkage) and a42(communication linkage from UAV4 to UAV2) receive information, corresponding formation communication cost is
9072；The communication topology re-optimization algorithm provided further according to table 4 obtains the re-optimization communication topology that the collaboration of this multiple no-manned plane is formed into columns,
Shown in obtained re-optimization communication topology such as Fig. 4 (b), the position of wherein UAV2 and UAV4 in flight pattern is exchanged,
Formation communication cost is reduced to 8640 from 9072 before.
Second aspect, the embodiment of the present invention additionally provides the fault-tolerant optimization of communication topology during a kind of multiple no-manned plane collaboration is formed into columns
Device, as shown in figure 5, described device includes：
Formation traffic diagram acquisition module M1, needs what the three-dimensional constituted was persistently formed into columns for cooperateing with to form into columns according to multiple no-manned plane
Formation obtains formation traffic diagram；
First reconstruct formation traffic diagram acquisition module M2, occurs communication failure for being formed into columns in multiple no-manned plane collaboration
When, according to the type of the communication failure in the formation traffic diagram deleting communication failure arc or communication failure node to obtain
First reconstruct formation traffic diagram；
First optimal reconstruct communication topology acquisition module M3, for obtaining first weight according to communication topology restructing algorithm
The optimal lasting figure of the corresponding three-dimensional of structure formation traffic diagram, the as first optimal reconstruct communication topology；
Re-optimization communication topology acquisition module M4, for being assisted according to the described first optimal reconstruct communication topology, multiple no-manned plane
Obtained with each position configuration formed into columns and the communication topology restructing algorithm and meet preparatory condition n ＞ | V |！It is second optimal heavy
Structure communication topology is the re-optimization communication topology that the multiple no-manned plane collaboration is formed into columns；
The position configuration refers to position of each frame unmanned plane in flight pattern in multiple no-manned plane collaboration formation；Communication event
Position before barrier occurs is configured to first position configuration Pr；| V | represent the quantity of unmanned plane in multiple no-manned plane collaboration formation；n
Take 1,2 ..., | V |！.
Alternatively, the re-optimization communication topology acquisition module includes for performing following steps：
S41, the re-optimization communication topology To is initialized as to the described first optimal reconstruct communication topology Tr, by re-optimization
Position configuration Po is initialized as the first position configuration Pr；Second optimal reconstruct communication opens up corresponding position and is configured to second
Configuration Pn is put, and symbol n is initialized as 1；
S42, according to the second place configure Pn build meet failure constraints second reconstruct formation traffic diagram；
S43, according to described second reconstruct formation traffic diagram and the communication topology restructing algorithm calculate the second
Put the corresponding optimal lasting figures of three-dimensional of configuration Pn, the as second optimal reconstruct communication topology Tn；
S44, the weighted value for calculating the described second optimal reconstruct communication topology, if the weighted value communicates less than the re-optimization
The weighted value of topology, then be updated to the described second optimal reconstruct communication topology by the re-optimization communication topology To, will be described heavy
Configuration Po in optimization position is updated to the second place configuration Pn；
If S45, the weighted value are equal to the weighted value of the re-optimization communication topology To, calculate from first position and configure Pr
The UAV displacement sums that the second place configures Pn are switched to, are matched somebody with somebody if the UAV displacements sum is less than from first position
Put Pr and be switched to the UAV displacement sums that the re-optimization position configures Po, then re-optimization communication topology To is updated to institute
The second optimal reconstruct communication topology Tn is stated, re-optimization position configuration Po is updated into the second place configures Pn；
S46, the value increase by 1 by the symbol n, judge whether n meets preparatory condition n ＞ | V |！If being unsatisfactory for going to step
Rapid S42.
Alternatively, the first reconstruct formation traffic diagram acquisition module includes for performing following steps：
If the type of the communication failure is the unicast transmission machine failure of unmanned plane, deleting should in the formation traffic diagram
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, deleting should in the formation traffic diagram
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 formation traffic diagram 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, deleting should in the formation traffic diagram
Link corresponding arc；
In the formation traffic diagram, 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.
Alternatively, the described first optimal reconstruct communication topology acquisition module includes for performing following steps：
Calculate the three-dimensional optimal rigidity figure of the first reconstruct formation traffic diagram；
Each edge in the optimal rigid figure of the three-dimensional is converted into belonging to an arc of the first reconstruct formation traffic diagram
Or two identical but in opposite direction arcs of weights 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；
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 the first reconstruct formation traffic diagram, 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.
It should be noted that the fault-tolerant optimization of communication topology during multiple no-manned plane collaboration provided in an embodiment of the present invention is formed into columns is filled
It is one-to-one relation to put with the above method, and the implementation detail of the above method is equally applicable to said apparatus, and the present invention is implemented
No longer said system is described in detail for example.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (8)
1. the fault-tolerant optimization method of communication topology in a kind of multiple no-manned plane collaboration formation, it is characterised in that methods described includes：
The formation that S1, the three-dimensional for cooperateing with needs of forming into columns to constitute according to multiple no-manned plane are persistently formed into columns obtains formation traffic diagram；
S2, when the multiple no-manned plane collaboration form into columns occur communication failure when, according to the type of the communication failure it is described form into columns
Deleting communication failure arc or communication failure node are to obtain the first reconstruct formation traffic diagram in traffic diagram；
S3, the corresponding optimal lasting figure of three-dimensional of the first reconstruct formation traffic diagram is obtained according to communication topology restructing algorithm, i.e.,
For the first optimal reconstruct communication topology；
S4, the configuration of each position and the communication formed into columns according to the described first optimal reconstruct communication topology, multiple no-manned plane collaboration
Topology reconstruction algorithm obtains and meets preparatory condition n ＞ | V |！The second optimal reconstruct communication topology be multiple no-manned plane collaboration
The re-optimization communication topology of formation；
The position configuration refers to position of each frame unmanned plane in flight pattern in multiple no-manned plane collaboration formation；Communication failure is sent out
Position before life is configured to first position configuration Pr；| V | represent the quantity of unmanned plane in multiple no-manned plane collaboration formation；N takes 1,
2、……、|V|！.
2. the fault-tolerant optimization method of communication topology in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
The step S4 includes：
S41, the re-optimization communication topology To is initialized as to the described first optimal reconstruct communication topology Tr, by re-optimization position
Configuration Po is initialized as the first position configuration Pr；Second optimal reconstruct communication, which opens up corresponding position and is configured to the second place, matches somebody with somebody
Pn is put, and symbol n is initialized as 1；
S42, according to the second place configure Pn build meet failure constraints second reconstruct formation traffic diagram；
S43, according to described second reconstruct formation traffic diagram and the communication topology restructing algorithm calculate the second place and match somebody with somebody
Put the optimal lasting figure of the corresponding three-dimensionals of Pn, the as second optimal reconstruct communication topology Tn；
S44, the weighted value for calculating the described second optimal reconstruct communication topology, if the weighted value is less than the re-optimization communication topology
Weighted value, then the re-optimization communication topology To is updated to the described second optimal reconstruct communication topology, by the re-optimization
Position configuration Po is updated to the second place configuration Pn；
If S45, the weighted value are equal to the weighted value of the re-optimization communication topology To, calculate from first position configuration Pr switchings
Pn UAV displacement sums are configured to the second place, if the UAV displacements sum, which is less than from first position, configures Pr
The UAV displacement sums that the re-optimization position configures Po are switched to, then re-optimization communication topology To are updated to described the
Two optimal reconstruct communication topology Tn, are updated to the second place by re-optimization position configuration Po and configure Pn；
S46, the value increase by 1 by the symbol n, judge whether n meets preparatory condition n ＞ | V |！If being unsatisfactory for going to step
S42。
3. the fault-tolerant optimization method of communication topology in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
The step S2 includes：
If the type of the communication failure be unmanned plane unicast transmission machine failure, delete this in the formation traffic diagram nobody
Machine corresponding node it is all go out arc；
If the type of the communication failure be unmanned plane unicast receiver failure, delete this in the formation traffic diagram nobody
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 formation traffic diagram 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 link in the formation traffic diagram is deleted
Corresponding arc；
In the formation traffic diagram, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted,
The unmanned plane, which is exited, forms into columns and returns alone airport.
4. the fault-tolerant optimization method of communication topology in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
The step of three-dimensional optimal lasting figure corresponding according to communication topology restructing algorithm acquisition the first reconstruct formation traffic diagram
Including：
Calculate the three-dimensional optimal rigidity figure of the first reconstruct formation traffic diagram；
By each edge in the optimal rigid figure of the three-dimensional be converted into belonging to the first reconstruct formation traffic diagram an arc or
Two the identical but in opposite direction arc of 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；
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 the first reconstruct formation traffic diagram, 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.
5. the fault-tolerant optimization device of communication topology in a kind of multiple no-manned plane collaboration formation, it is characterised in that described device includes：
Formation traffic diagram acquisition module, needs the three-dimensional formation persistently formed into columns constituted to obtain for being cooperateed with to form into columns according to multiple no-manned plane
Take formation traffic diagram；
First reconstruct formation traffic diagram acquisition module, for the multiple no-manned plane collaboration form into columns occur communication failure when, according to
The type of the communication failure in the formation traffic diagram deleting communication failure arc or communication failure node to obtain the first weight
Structure formation traffic diagram；
First optimal reconstruct communication topology acquisition module, forms into columns for obtaining first reconstruct according to communication topology restructing algorithm
The optimal lasting figure of the corresponding three-dimensional of traffic diagram, the as first optimal reconstruct communication topology；
Re-optimization communication topology acquisition module, for being formed into columns according to the described first optimal reconstruct communication topology, multiple no-manned plane collaboration
Each position configuration and the communication topology restructing algorithm obtain meet preparatory condition n ＞ | V |！Second it is optimal reconstruct communication
Topology is the re-optimization communication topology that the multiple no-manned plane collaboration is formed into columns；
The position configuration refers to position of each frame unmanned plane in flight pattern in multiple no-manned plane collaboration formation；Communication failure is sent out
Position before life is configured to first position configuration Pr；| V | represent the quantity of unmanned plane in multiple no-manned plane collaboration formation；N takes 1,
2、……、|V|！.
6. the fault-tolerant optimization device of communication topology in multiple no-manned plane collaboration formation according to claim 5, it is characterised in that
The re-optimization communication topology acquisition module includes for performing following steps：
S41, the re-optimization communication topology To is initialized as to the described first optimal reconstruct communication topology Tr, by re-optimization position
Configuration Po is initialized as the first position configuration Pr；Second optimal reconstruct communication, which opens up corresponding position and is configured to the second place, matches somebody with somebody
Pn is put, and symbol n is initialized as 1；
S42, according to the second place configure Pn build meet failure constraints second reconstruct formation traffic diagram；
S43, according to described second reconstruct formation traffic diagram and the communication topology restructing algorithm calculate the second place and match somebody with somebody
Put the optimal lasting figure of the corresponding three-dimensionals of Pn, the as second optimal reconstruct communication topology Tn；
S44, the weighted value for calculating the described second optimal reconstruct communication topology, if the weighted value is less than the re-optimization communication topology
Weighted value, then the re-optimization communication topology To is updated to the described second optimal reconstruct communication topology, by the re-optimization
Position configuration Po is updated to the second place configuration Pn；
If S45, the weighted value are equal to the weighted value of the re-optimization communication topology To, calculate from first position configuration Pr switchings
Pn UAV displacement sums are configured to the second place, if the UAV displacements sum, which is less than from first position, configures Pr
The UAV displacement sums that the re-optimization position configures Po are switched to, then re-optimization communication topology To are updated to described the
Two optimal reconstruct communication topology Tn, are updated to the second place by re-optimization position configuration Po and configure Pn；
S46, the value increase by 1 by the symbol n, judge whether n meets preparatory condition n ＞ | V |！If being unsatisfactory for going to step
S42。
7. the fault-tolerant optimization device of communication topology in multiple no-manned plane collaboration formation according to claim 5, it is characterised in that
The first reconstruct formation traffic diagram acquisition module includes for performing following steps：
If the type of the communication failure be unmanned plane unicast transmission machine failure, delete this in the formation traffic diagram nobody
Machine corresponding node it is all go out arc；
If the type of the communication failure be unmanned plane unicast receiver failure, delete this in the formation traffic diagram nobody
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 formation traffic diagram 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 link in the formation traffic diagram is deleted
Corresponding arc；
In the formation traffic diagram, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted,
The unmanned plane, which is exited, forms into columns and returns alone airport.
8. the fault-tolerant optimization device of communication topology in multiple no-manned plane collaboration formation according to claim 5, it is characterised in that
The first optimal reconstruct communication topology acquisition module includes for performing following steps：
Calculate the three-dimensional optimal rigidity figure of the first reconstruct formation traffic diagram；
By each edge in the optimal rigid figure of the three-dimensional be converted into belonging to the first reconstruct formation traffic diagram an arc or
Two the identical but in opposite direction arc of 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；
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 the first reconstruct formation traffic diagram, 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.
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Application publication date: 20170922 |