CN107340784A - Unmanned plane cluster control method - Google Patents
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Abstract
The invention discloses a kind of unmanned plane cluster control method, it is related to unmanned air vehicle technique field.Methods described comprises the following steps：Unmanned plane cluster group's internal members' model is built by the locus of unmanned plane cluster group internal members, speed and acceleration；Build the Acceleration Control function of unmanned plane cluster group internal members；It is controlled by clustering campaign of the Acceleration Control function realization of structure to unmanned plane cluster group internal members, towards target motion and obstacle avoidance motion.The method of the invention flexibility in terms of collective motion is controlled is strong, and uniformity is good, and control is notable with avoidance effect.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of unmanned plane cluster control method.
Background technology
Multiple UAVs (Unmanned Aerial Vehicles, UAVs) cooperate with each other completes military target strike, mesh
The time of tasks carrying can be greatly reduced with tasks such as scoutings, improve the efficiency and success rate fought for mark tracking.With operation
Increasingly sophisticated, the not only quantity of space unmanned plane and the density rising, and forceful electric power magnetic environment easily causes UAV Communication of environment
It is blind, and potentially burst obstacle carrys out series of challenges to the flight control of unmanned plane cluster with safety belt, it has also become one is urgently
The problem of to be solved.
Unmanned plane group system belongs to local sensing or the distributed architecture of communication, control method main at present
Have：Controlling based on local rule, soft control, navigating follows method and Artificial Potential Field Method.Control method based on local rule is most
Basis, the control that emerges in large numbers of swarm intelligence can be realized, but only cluster is emerged in large numbers desired control direction by its difficulty；It is soft control be
On the basis of local rule by for cluster add other individuals in the controllable individual guiding group in an outside towards it is intended that
Move in direction；Navigator's control methods realize clustered control using informative individual guiding in cluster, will grasp in the prior art
The individual of flight path information is directly set to leader, does not consider that whom, which how to recognize, under the actual conditions without direct communication between individual is
The problem of leader；Artificial Potential Field is moved by building global potential field function intelligent body to the direction that potential energy reduces, the party
Method is simple and practical, advantageous in terms of avoidance, but local extremum problem be present.To sum up, unmanned plane collection team control of the prior art
Method generally existing research conditions processed are preferable, method use cuts both ways, exist flexibility deficiency, control it is bad with avoidance effect
The problems such as.
The content of the invention
The technical problems to be solved by the invention are how to provide a kind of activity by force, and uniformity is good, control and avoidance effect
Significant unmanned plane collective motion control method.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of unmanned plane cluster control method, its
It is characterised by comprising the following steps：
Built by the locus of unmanned plane cluster group internal members, speed and acceleration inside unmanned plane cluster group
Member's model；
Build the Acceleration Control function of unmanned plane cluster group internal members；
Pass through clustering campaign of the Acceleration Control function realization of structure to unmanned plane cluster group internal members, direction
Target is moved and obstacle avoidance motion is controlled.
Further technical scheme is, the distributed system that unmanned plane cluster is made up of individual, each individual
Motion can be abstracted as：
Wherein：PiRepresent unmanned plane i locus, viRepresent speed, aiRepresent acceleration,Represent to PiSingle order is asked to lead
Number,Represent to viSeek first derivative.
Further technical scheme is, following constraint be present during unmanned plane i flights：
Acceleration constrains：
Wherein, AmaxFor the peak acceleration of unmanned plane；
Constraint of velocity：
Wherein, VmaxFor the maximal rate of unmanned plane.
Further technical scheme is, place is normalized to the individual i of unmanned plane cluster group internal members quality
Its motion control amount acceleration function a after reasoniIt is expressed as：
ai=γ1·α·fi g+γ2·fi o+γ3·fi j+γ1·(1-α)·fi G (4)
γ in above formula1·α·fi gAttract caused control component, γ for target2·fi oFor the control needed for obstacle avoidance
Component, γ3·fi jIt is neighbours' unmanned plane j in group to clustering active force, γ caused by unmanned plane i1·(1-α)·fi GFor unmanned plane
Control component caused by individual G leader's unmanned plane individuals i；α is that unmanned plane individual i receives the mark of way point information, the table of α=1
Show that unmanned plane i can receive way point information, now the γ on the right side of (4) formula equal sign1·(1-α)·fi GFor 0；α=0 item represents unmanned plane
I can not receive way point information, the γ on the right side of (4) formula equal sign1·α·fi gFor 0, γ1·(1-α)·fi GIt is not 0, individual i will be from
Selection unmanned plane G is followed as leader in search coverage, that is, unmanned plane G is made in the case of not receiving target destination
Moved for target destination and towards it；γ1、γ2And γ3For the weight of each control component, fi gFor target g and unmanned plane i work
With force function, fi oFor the force function between obstacle O and unmanned plane i, fi jFor unmanned plane j and unmanned plane i active force letter
Number, fi GFor the active force between unmanned plane i and selected leader's unmanned plane G.
Further technical scheme is, the clustering campaign force function fi jConstruction method it is as follows：
If unmanned plane individual i passes through position individual around visually-perceptible and speed, detection range da；Using individual i in
The heart, daFor radius, the border circular areas of composition is unmanned plane i search coverage；NeighborhoodFall the detecting area in unmanned plane i for t
Unmanned plane individual collections in domain；The search coverage is divided into three regions：Region of rejectionCoherence domainsDomain of attractionRow
Denounce domainRnThe point set in spaceCoherence domains Attract
Domain Wherein, drFor the boundary distances of region of rejection and coherence domains, doFor coherence domains
With the boundary distances of domain of attraction, 0 ＜ dr＜ do＜ da, RnN dimension sets of real numbers are represented,Represent unmanned plane i and unmanned plane
The distance between j；
NeighborhoodActive force f between interior unmanned plane j and unmanned plane ii jIt is expressed as：
Wherein, Fi j=-▽ Vi j；
Wherein：fi jBy unmanned plane i and unmanned plane j position Pi、PjWith speed vi、vjDetermine；The method of decision：Represent
The action direction of power, is unit direction vector, Fi jFor the size of the active force, by unmanned plane i and unmanned plane j position Pi、Pj
Solved according to (7) formula；Vi jFor by unmanned plane i and unmanned plane j position Pi、PjCaused potential field, to Vi jNegative gradient is asked to obtain
Fi j；-▽Vi jFor to Vi jSeek negative gradient；By unmanned plane i and unmanned plane j speed vi、vjCaused active force is equal sign in formula (5)
The Section 2 on right side；Repulsion strength control parameter between unmanned plane i and unmanned plane j,For apart from adjustment parameter,
Gravitational control parameter between unmanned plane i and unmanned plane j,For the rate uniformity between unmanned plane i and unmanned plane j
Control parameter,WithAn initial value can be first given, is then further adjusted in system experimentation.
Further technical scheme is, the force function f that the unmanned plane i moves towards targeti gConstruction method
It is as follows：
1) all individuals can obtain way point information
Unmanned aerial vehicle flight path is resolved into a series of sequence location point Track={ T1,T2,...Tm, with the time by airborne or
The Automatic dependent surveillance broadcast system transmitting terminal of ground control station is sent one by one, if the every frame unmanned plane of cluster internal can pass through machine
Carry the destination that Automatic dependent surveillance broadcast system receiving terminal real-time reception Automatic dependent surveillance broadcast system transmitting terminal is sent
Position, speed, the individual position deviation with current destination areConstruct the effect between target g and unmanned plane i
Force function fi gIt is as follows：
Wherein,
Wherein：fi gFor the active force between target g and unmanned plane i, by unmanned plane i and target g position Pi、TkAnd speed
vi、vgDetermine；The method of decision is as follows：The action direction of the active force is represented, is unit direction vector, Fi gFor the active force
Size, by unmanned plane i and target g position according to (9) formula solve, the distance between unmanned plane i and target g areThe active force as caused by unmanned plane i and target g speed difference is the Section 2 on the right side of equal sign in (8) formula；Its
Middle vgAsk method as follows：Unmanned aerial vehicle flight path is being resolved into a series of sequence location point Track={ T1,T2,...TmAfter, if often
Two adjacent track points TkAnd Tk+1Between the time interval broadcast be Δ t, k=1...m-1, then target destination is in the flight path section
Flying speed be Action intensity control coefrficient between unmanned plane i and target g, rτFor target g and nobody
The boundary distances that gravitation form between machine i changes；
2) small part individual can obtain way point information
In the case where small part individual can obtain way point information, the individual for flight path information can be obtained, in 1)
The method of description acts power fi g；Individual i for that can not obtain way point information, then selected in neighborhood using following methods and transported
The most fast individual G of dynamic velocity variations：
WhereinRepresent unmanned plane j in t and t- τ moment all unmanned plane i's
In neighborhood, τ be individual i before and after twice to neighborhoodThe time interval that interior individual body position is observed, ΔjRepresent the τ periods
Interior unmanned plane j location variation,It is unmanned plane j in the position of t,It is unmanned plane j in the position at t- τ moment；It is individual
After body i picks out fastest individual G using the method described in (10) formula from neighborhood, it is followed as target,
Therebetween by being acted on minor function：
Wherein,
Wherein：fi GFor the active force between unmanned plane G and unmanned plane i, by unmanned plane i and unmanned plane G position Pi、PGWith
Speed vi、vGDetermine；The method of decision is as follows：The direction of the active force is represented, is unit direction vector, Fi GFor the active force
Size, by unmanned plane i and unmanned plane G position Pi、PGSolved according to (12) formula, the distance between unmanned plane i and unmanned plane GBy unmanned plane i and unmanned plane G speed vi、vGCaused active force is second on the right side of equal sign in (11) formula
；drFor the boundary distances of gravitation and repulsion, dr+rtGravitation form between UAV targets' individual G and unmanned plane i occurs
The boundary distances of change；Repulsion strength control coefficient between unmanned plane i and unmanned plane G,For apart from adjustment parameter,It is the gravitational control coefrficient between unmanned plane i and unmanned plane G,Between unmanned plane i and unmanned plane G
Rate uniformity control coefrficient,WithAn initial value can be first given, then is entered in system experimentation
One step section.
Further technical scheme is, if the warning distance between individual i and barrier O is γβ, wherein γβ＜ da,
Then therebetween by being controlled with minor function：
Wherein,
Wherein：fi oFor the active force between obstacle O and unmanned plane i, by unmanned plane i and obstacle O position Pi、POAnd speed
vi、vODetermine, the method for decision：The action direction of the active force is represented, is unit direction vector, Fi OFor the big of the active force
It is small, by unmanned plane i and obstacle O position Pi、POSolved according to (14) formula, the distance between unmanned plane i and obstacle OSeparately by unmanned plane i and obstacle O speed vi、vOCaused active force is second on the right side of equal sign in (13) formula
；γβWarning distance between unmanned plane i and barrier O,For apart from adjustment parameter,For unmanned plane i and obstacle O it
Between repulsion intensity adjustment coefficient,Rate uniformity control coefrficient between unmanned plane i and obstacle O,
And γβAn initial value can be first given, then is further adjusted in system experimentation.
It is using beneficial effect caused by above-mentioned technical proposal：Methods described is first by by local rule and potential field
Method fusion generates a kind of new control function, and combines soft control method and control the motion of virtual target destination to successfully boot up
Individual realizes aggregation and the flight of cluster controls, and " detection is proposed on the basis of limited visually-perceptible to unknown burst obstacle
Evade " Robot dodge strategy；Secondly, there was only the situation that some individuals can normally receive flight path information for electromagnetic environment, use
The method of neighborhood identification is that the individual selected target individual for not receiving flight path information is followed, and realizes desired cluster fortune
It is dynamic.The method of the invention controls situation relatively actual conditions, flexibility that be simple, considering in terms of collective motion is controlled
By force, uniformity is good, and control is notable with avoidance effect.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the flow chart of methods described of the embodiment of the present invention；
Fig. 2 is that the effect in methods described of the embodiment of the present invention between individual member is tried hard to；
Fig. 3 is that the effect in methods described of the embodiment of the present invention between individual and target destination is tried hard to；
Fig. 4 is that the effect in methods described of the embodiment of the present invention between individual and target individual is tried hard to；
Fig. 5 is that the effect in methods described of the embodiment of the present invention between individual and obstacle is tried hard to；
Fig. 6 is that methods described of the embodiment of the present invention carries out the aggregation of unmanned plane individual and the rail along track flight during emulation experiment
Mark figure；
Fig. 7 is the curve map that methods described of the embodiment of the present invention carries out distance between each frame unmanned plane during emulation experiment；
Fig. 8 is that methods described of the embodiment of the present invention carries out Formation Center and the range deviation song of real-time destination during emulation experiment
Line chart；
Fig. 9 is the scene graph that unmanned plane cluster hides obstacle when methods described of the embodiment of the present invention carries out emulation experiment；
Distance Curve figure of each unmanned plane to obstacle when Figure 10 is methods described of embodiment of the present invention progress emulation experiment；
Figure 11 be methods described of the embodiment of the present invention carry out emulation experiment when based on neighborhood identification clustered control nobody
Machine track plot；
Wherein, 1, the flight path curve of planning；2nd, each unmanned aerial vehicle flight path curve；
3rd, the distance between unmanned plane 1 and unmanned plane 2 curve；4th, the distance between unmanned plane 1 and unmanned plane 3 curve；5、
The distance between unmanned plane 1 and unmanned plane 4 curve；6th, the distance between unmanned plane 1 and unmanned plane 5 curve；7th, unmanned plane 1 and nothing
Man-machine the distance between 6 curve；8th, the distance between unmanned plane 2 and unmanned plane 3 curve；9th, between unmanned plane 2 and unmanned plane 4
Distance Curve；10th, the distance between unmanned plane 2 and unmanned plane 5 curve；11st, the distance between unmanned plane 2 and unmanned plane 6 curve；
12nd, the distance between unmanned plane 3 and unmanned plane 4 curve；13rd, the distance between unmanned plane 3 and unmanned plane 5 curve；14th, unmanned plane
The distance between 3 and unmanned plane 6 curve；15th, the distance between unmanned plane 4 and unmanned plane 5 curve；16th, unmanned plane 4 and unmanned plane
The distance between 6 curves；17th, the distance between unmanned plane 5 and unmanned plane 6 curve；
18th, barrier one；19th, barrier two；20th, the distance between unmanned plane 1 and barrier one curve；21st, unmanned plane 1
The distance between barrier two curve；22nd, the distance between unmanned plane 2 and barrier one curve；23rd, unmanned plane 2 and obstacle
The distance between thing two curve；24th, the distance between unmanned plane 3 and barrier one curve；25th, unmanned plane 3 and barrier two it
Between distance Curve；26th, the distance between unmanned plane 4 and barrier one curve；27th, between unmanned plane 4 and barrier two away from
From curve；28th, the distance between unmanned plane 5 and barrier one curve；29th, the distance between unmanned plane 5 and barrier two curve；
30th, the distance between unmanned plane 6 and barrier one curve；31st, the distance between unmanned plane 6 and barrier two curve；32nd, the 3rd
The unmanned aerial vehicle flight path curve of way point information can be received in the case of kind.
Embodiment
With reference to 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
Ground describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Overall, as shown in figure 1, the embodiment of the invention discloses a kind of unmanned plane cluster control method, including following step
Suddenly：
S101：Unmanned plane cluster is built by the locus of unmanned plane cluster group internal members, speed and acceleration
Group's internal members' model；
S102：Build the Acceleration Control function of unmanned plane cluster group internal members；
S103：The clustering campaign to unmanned plane cluster group internal members is realized by the Acceleration Control function of structure
(mainly solve cluster internal collision prevention, keep speed uniformity and group globality), towards target move and evade
The motion of (outside cluster) obstacle is controlled.
Methods described is carried out specifically in terms of modeling, stability analysis and emulation experiment verify three below
It is bright：
1st, the acceleration function of unmanned plane cluster group internal members is built
1.1 groups of internal members' models
The distributed system that unmanned plane cluster is made up of individual, the motion of each individual can use 6DOF
The equation of motion is represented, following form can be abstracted as by model abbreviation and mass normalisation processing：
Wherein PiRepresent unmanned plane i locus, viRepresent speed, aiRepresent acceleration,Represent to PiSingle order is asked to lead
Number,Represent to viSeek first derivative.By in guidance system ring layout acceleration aiUnmanned plane be can control along predefined paths
Flight, it is other to transfer to automatic pilot to complete.In addition, following constraint be present during unmanned plane i flights：
Acceleration constrains：
Wherein, AmaxFor the peak acceleration of unmanned plane.
Constraint of velocity：
Wherein, VmaxFor the maximal rate of unmanned plane.
The motion control rule of 1.2 individuals
The mass motion of unmanned plane cluster of the present invention is individual by unmanned plane individual movement rule control in cluster
Between a kind of emerging behavior caused by Local Interaction., can be by the fortune of cluster internal individual according to the difference of individual behavior interactive object
It is dynamic to be decomposed into three sub-goals：Keep clustering, march on towards target and obstacle avoidance, therefore it is by neighbouring individual group cohesion, target
The comprehensive function of the repulsive force three of attraction and obstacle, its motion control amount accelerates after Individual Quality is normalized
Spend function aiIt is represented by：
ai=γ1·α·fi g+γ2·fi o+γ3·fi j+γ1·(1-α)·fi G (4)
γ in above formula1·α·fi gAttract caused control component, γ for target2·fi oFor the control needed for obstacle avoidance
Component, γ3·fi jIt is neighbours' unmanned plane j in group to clustering active force caused by unmanned plane i；γ1·(1-α)·fi GFor unmanned plane
Control component caused by individual G leader's unmanned plane individuals i；α is that unmanned plane individual i receives the mark of way point information, the table of α=1
Show that unmanned plane i can receive way point information, now the γ on the right side of (4) formula equal sign1·(1-α)·fi kFor 0；α=0 item represents unmanned plane
I can not receive way point information, the γ on the right side of (4) formula equal sign1·α·fi gFor 0 and γ1·(1-α)·fi GIt is not 0, individual i will be from
Selection unmanned plane G is as leader in search coverage, that is, does not receive and unmanned plane G is considered as leader in the case of target destination
And it is followed to move；γ1、γ2And γ3For the weight of each control component, fi gFor target g and unmanned plane i force function,
fi oFor the force function between obstacle O and unmanned plane i, fi jFor unmanned plane j and unmanned plane i force function, fi GFor nobody
Active force between machine i and selected leader's unmanned plane G.
1.2.1 the control of clustering campaign
If unmanned plane individual i passes through position individual around visually-perceptible and speed, detection range da；Using individual i as
Center, daFor radius, the border circular areas of composition is unmanned plane i search coverage；NeighborhoodFall the spy in unmanned plane i for t
The unmanned plane individual collections surveyed in region are not (including unmanned plane i)；The search coverage is divided into three regions：Region of rejectionOne
Cause domainDomain of attractionRegion of rejectionRnThe point set in spaceCoherence domains Domain of attraction Wherein, drTo repel
Domain and the boundary distances of coherence domains, doFor the boundary distances of coherence domains and domain of attraction, 0 ＜ dr＜ do＜ da, RnRepresent n dimension real numbers
Collection,Represent the distance between unmanned plane i and unmanned plane j.
NeighborhoodActive force f between interior unmanned plane j and unmanned plane ii jIt is expressed as：
Fi j=-▽ Vi j,-▽ Vi jFor to Vi jSeek negative gradient.
Wherein：fi jBy unmanned plane i and unmanned plane j position Pi、PjWith speed vi、vjDetermine；The method of decision：Represent
The action direction of power, is unit direction vector, Fi jFor the size of the active force, by unmanned plane i and unmanned plane j position Pi、Pj
Solved according to (7) formula；Vi jFor by unmanned plane i and unmanned plane j position Pi、PjCaused potential field, to Vi jNegative gradient is asked to obtain
Fi j；-▽Vi jFor to Vi jSeek negative gradient；By unmanned plane i and unmanned plane j speed vi、vjCaused active force is equal sign in formula (5)
The Section 2 on right side；Repulsion strength control parameter between unmanned plane i and unmanned plane j,For apart from adjustment parameter,
Gravitational control parameter between unmanned plane i and unmanned plane j,For the rate uniformity between unmanned plane i and unmanned plane j
Control parameter,WithAn initial value can be first given, is then further adjusted in system experimentation.Individual into
Active force between member is as shown in Figure 2.
1.2.2 target-bound motion control
Target area is reached for control unmanned plane cluster and performs task, is navigated first using unmanned plane cluster as an entirety
Mark is planned, to reduce the complexity of path planning；Secondly unmanned aerial vehicle flight path is resolved into a series of sequence location point Track=
{T1,T2,...Tm, sent out one by one by airborne (or ground control station) Automatic dependent surveillance broadcast system transmitting terminal with the time
Send, if the every frame unmanned plane of cluster internal can be by airborne Automatic dependent surveillance broadcast system receiving terminal real-time reception broadcast type certainly
The waypoint location of dynamic dependent surveillance system transmitting terminal transmission, velocity information, pass through the fortune of the renewal control targe Dummy of destination
Dynamic position guiding cluster reaches the desired theater of war.The information distribution system can be disposed at cluster internal any one frame nobody
Machine, ground control station is also disposed at, now flexibly changing destination, improves mobility and the flexibility of clustered control.According to
Can airborne broadcast terminal normally receive way point information, can be divided into following two situations：
(1) all individuals can obtain way point information
If the every frame unmanned plane of cluster internal can receive the real time position of destination, speed by airborne data terminal, individual with
The position deviation of destination isTo realize the target-bound motion of cluster, the present invention devises following active force letter
Number：
Wherein,
fi gFor the active force between target g and unmanned plane i, by unmanned plane i and target g position Pi、TkWith speed vi、vg
Determine.The method of decision：The action direction of the active force is represented, is unit direction vector, Fi gFor the size of the active force,
Specifically solved by unmanned plane i and target g position according to (9) formula, the distance between unmanned plane i and target g
Separately the active force as caused by unmanned plane i and target g speed difference is the Section 2 (note in (8) formula on the right side of equal sign：vgSeek method：
Unmanned aerial vehicle flight path is being resolved into a series of sequence location point Track={ T1,T2,...TmAfter, if the adjacent track points of each two
TkAnd Tk+1(k=1...m-1) time interval broadcast between is Δ t, then flying speed v of the target destination in the flight path sectiongFor)；Action intensity adjustment factor between unmanned plane i and target g, rτFor the work between target g and unmanned plane i
The boundary distances that firmly form changes；Active force between target and individual is as shown in Figure 3.
(2) small part individual can obtain way point information
Strong electromagnetic easily prevents the communication disruption of unmanned plane cause it from obtaining target way point information, now prior art
In directly by obtain way point information unmanned plane individual be set to leader, by local communication leader do not obtain way point information
The motion of body, make unmanned plane member aggregating and form clustering campaign.But as the ratio for grasping way point information individual declines, cluster
The smoothness of Personal flight path significantly declines, and when ratio drops to less than 1/3, individual, which often produces, departs from collection
The phenomenon of group, control and safety to cluster bring very big difficulty；And the office under strong electromagnetic interference environment between unmanned plane
Portion's communication can be affected, and the unmanned plane for not obtaining flight path information can not be carried out just between the unmanned plane of acquisition flight path information
Normal open is believed, so as to learn that who is leader.The method that the neighborhood of view-based access control model is perceived and recognized is proposed to this present invention,
Assuming that unmanned plane individual i can not receive target way point information, therefore can not be with the individual communications of way point information, but energy can be received
The position of neighbours' unmanned plane individual and speed in visual range are perceived by airborne visual sensing system：
WhereinRepresent unmanned plane j in t and t- τ moment all in unmanned plane i
Neighborhood in,τFor before and after individual i twice to neighborhoodThe time interval that interior individual body position is observed, ΔjRepresent the τ times
Unmanned plane j location variation in section,It is unmanned plane j in the position of t,It is unmanned plane j in the position at t- τ moment
Put；After individual i picks out fastest individual G using the method described in (10) formula from neighborhood, it is entered as leader
Row is followed, therebetween by being acted on minor function：
Wherein：fi GFor the active force between unmanned plane G and unmanned plane i, by unmanned plane i and unmanned plane G position Pi、PGWith
Speed vi、vGDetermine.The method of decision：The action direction of the power is represented, is unit direction vector, Fi GFor the big of the active force
It is small, specifically solved by unmanned plane i and unmanned plane G position according to (12) formula, the distance between unmanned plane i and unmanned plane GSeparately the active force as caused by unmanned plane i and unmanned plane G speed difference is second on the right side of equal sign in (11) formula
.drBoundary distances between region of rejection and coherence domains, dr+rtFor the gravitation between UAV targets' individual G and unmanned plane i
The boundary distances that form changes；Repulsion strength control coefficient between unmanned plane i and unmanned plane G,For distance
Adjustment parameter,It is the gravitational control coefrficient between unmanned plane i and unmanned plane G,For unmanned plane i and nothing
Rate uniformity control coefrficient between man-machine G,WithAn initial value can be first given, then is being
Further adjusted during system experiment.Active force between individual and target individual is as shown in Figure 4.
1.2.3 the motion control of obstacle avoidance
Cluster is flown to along preset flight path during destination, can run into the threat of some obstacles.Individual is to ensure certainly
The flight safety of body to barrier, it is necessary to evade.According to threaten in advance whether it is known be divided into known threat and with it is unknown
Threaten.For known threat, preliminary treatment can be carried out in the trajectory planning stage, individual is actively evaded in flight course；It is right
When the action of unknown threat, the then detectivity dependent on airborne sensor, computer information processing speed and executing agency
Between.The present invention is directed to unknown threat, in order to be consistent with actual conditions, if unmanned plane individual i detection range is γβ, airborne letter
Breath processing and perform the time of response and be τ '=0.25s, it is individual at the time of obstacle is detected τ ' seconds laggard professional etiquette keep away
(detection is evaded), then it is designed by following force function therebetween：
Wherein,
Wherein, fi oFor the active force between obstacle O and unmanned plane i, by unmanned plane i and obstacle O position Pi、POAnd speed
vi、vODetermine, the method for decision：The action direction of the active force is represented, is unit direction vector, Fi OFor the big of the active force
It is small, solved by unmanned plane i and obstacle O position according to (14) formula, the distance between unmanned plane i and obstacle O
Separately the active force as caused by unmanned plane i and obstacle O speed difference is the Section 2 on the right side of equal sign in (13) formula；γβFor unmanned plane i
Warning distance between barrier O,For apart from adjustment parameter,Repulsion intensity between unmanned plane i and obstacle O is adjusted
Save coefficient,Rate uniformity control coefrficient between unmanned plane i and obstacle O,And γβOne can first be given
Initial value, then further adjusted in system experimentation.Active force between individual and obstacle is as shown in Figure 5.
2nd, stability analysis
For cluster, illustrate that it has well if the distance between cluster internal individual and neighbours keep constant
Stability and robustness.To simplify stability analysis process, consider that cluster internal only has two frame unmanned plane i's and j first herein
Situation, they are within mutual detection range.According to (1) formula, ifWithRespectively nobody
Machine i and j relative position and relative velocity (two state variables of system), two machines are considered as a system, i.e., stability with
fi jIt is relevant.
If liapunov function：
Then
Two machine speed gradually reach unanimity, i.e., the distance between two machines also tend to certain value, and system reaches stable state！
Next consider that cluster internal there are 3 frame unmanned planes, numbering is respectively 1,2,3, and each mutual detection range of leisure
It is interior.Stability analysis is carried out by taking individual 2 as an example, its neighbour is 1 and 3, is set as stated above
Then：
If liapunov function：
Conclusion is same as above, and by that analogy, if cluster internal has N frame unmanned planes, unmanned plane i has M neighbours, is usedRepresent
It is gathered, and is simplified pr oof process, M neighbours are separately represented with numbering l=1,2...M.
OrderThen
If liapunov function：Then:
It is stable according to Liapunov stability method of discrimination, judgement system！
3rd, emulation experiment is verified
For convenience of interpretation of result is carried out, the unmanned plane cluster flight to three dimensions below carries out emulation with obstacle avoidance and tested
Card.Way point information can be received by individual, emulation experiment is mainly deployed from following several respects：
Situation one：Unmanned plane cluster internal individual can obtain real-time flight path information, and flight space is accessible
If cluster internal unmanned plane number of individuals is 6, individual can receive real-time flight path information (α=1) by broadcast terminal.
According to the motion control acceleration function a of (4) formula, in this case unmanned plane individuali=γ1·fi g+γ2·fi o+γ3·fi jAnd
fi o=0.The initial velocity of unmanned plane member is 0, and initial position is random, is flown after way point information is received initially towards it,
Airborne sensor detection range is 60m, maximal rate 40m/s, peak acceleration 0.5m/s2, fuselage long 2m, γ1=1,
γ2=3, γ3=0.5,rτ=20m,
dr=20m, do=30m, da=60m.Individual finally gathers to the flight path direction of motion under the control input effect that above-mentioned parameter determines
Collect and flown along targetpath, flight path is as shown in fig. 6, the distance between each machine is as shown in Figure 7.If with
Represent the center of cluster, E (t)=Tk-PgroupRepresent cluster centers and current destination TkThe distance between deviation, its change procedure
As shown in Figure 8.
Fig. 6 shows flight path direction fortune of the unmanned function of each frame from arbitrary initial state to planning under the control method
Move, move closer to, assemble and formed the motion of an entirety；The apparent distances shown between any two machine of each moment of Fig. 7,
Its curve trend shows that the distance is maximum in initial time, gradually converges to a stationary value, and the minimum between any two machine later
Distance is 7.8 meters (being more than 2 meters of fuselage length), ensure that collisionless generation；Fig. 9 shows that deviation is gradual over time
Convergence, cluster centers can press track flight substantially.
Situation two：Unmanned plane individual can obtain real-time flight path information in cluster, and flight space has unknown obstacle
Unmanned plane cluster internal individual is along during track flight, and when flying to obstacle, its airborne sensor detects
To the position of the barrier, velocity information, the control method of situation one, but now f can be still usedi o≠ 0, orderγβ=25m,The locus of barrier one is (48,72,50) (m), barrier two
Locus is (78,50,50) (m), and other parameters are the same as situation one.The simulated effect of three dimensions is as shown in figure 9, between each machine
Distance it is as shown in Figure 10.
Spheroid in Fig. 9 is the region where obstacle, and unmanned plane can be clearly visible in close barrier from unmanned aerial vehicle flight path line
The lateral thrust for substantially deviating from obstacle occurs when hindering thing, as detects obstacle and caused evades behavior；2 in Figure 10 are most
Low ebb is the period (marking part see dotted-line ellipse) of cluster avoiding barrier one and barrier two, each machine all the time with obstacle
Thing keeps more than 10 meters of distance.The same data analysing method for using situation one obtains minimum distance between each machine as 4.3m, still
More than fuselage length value 2m, the collision with obstacle is avoided that.
Situation three：Cluster internal minority individual can obtain real-time way point information, and flight space is accessible
In this case, the individual for having been received by way point information continues to be controlled according to the method for situation one, destination is not received
The individual of information is followed using method choice neighbours' unmanned plane individual G of neighborhood identification as leader, its control input
For ai=γ2·fi o+γ3·fi j+γ1·fi G, dr=20,
rτ=20,τ=1, remaining parameter setting is the same, and its effect is as shown in figure 11.
As can be seen from Figure 11, cluster internal has 6 frame unmanned planes, and only 1 frame can receive the flight path information (song marked as 32
Line, account for colony's number 1/6), it at least be present in the search coverage of each frame unmanned plane in other 5 frame unmanned plane under primary condition
Its 1 frame unmanned plane and can be associated with by this method on the 1 frame unmanned plane that can receive flight path information, using neighborhood follow with
The method of identification is not receive the individual choice leader of flight path information, individual physical efficiency clustering effect, the guiding of leader and
Under under Target Towing mass motion is drawn close and is formed from the aggregation of arbitrary initial state.
Claims (7)
1. a kind of unmanned plane cluster control method, it is characterised in that comprise the following steps：
Unmanned plane cluster group internal members are built by the locus of unmanned plane cluster group internal members, speed and acceleration
Model；
Build the Acceleration Control function of unmanned plane cluster group internal members；
Clustering campaign to unmanned plane cluster group internal members is realized, towards target by the Acceleration Control function of structure
Motion and obstacle avoidance motion are controlled.
2. unmanned plane cluster control method as claimed in claim 1, it is characterised in that：
The distributed system that unmanned plane cluster is made up of individual, the motion of each individual can be abstracted as：
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3. unmanned plane cluster control method as claimed in claim 2, it is characterised in that exist during unmanned plane during flying it is following about
Beam：
Acceleration constrains：
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4. unmanned plane cluster control method as claimed in claim 2, it is characterised in that：To unmanned plane cluster group internal members
Its motion control amount acceleration function a after body i quality is normalizediIt is expressed as：
ai=γ1·α·fi g+γ2·fi o+γ3·fi j+γ1·(1-α)·fi G (4)
γ in above formula1·α·fi gAttract caused control component, γ for target2·fi oFor the control component needed for obstacle avoidance,
γ3·fi jIt is neighbours' unmanned plane j in group to clustering active force, γ caused by unmanned plane i1·(1-α)·fi GFor unmanned plane individual G
Control component caused by leader's unmanned plane individual i；α is the mark that unmanned plane individual i receives way point information, and α=1 represents nobody
Machine i can receive way point information, now the γ on the right side of (4) formula equal sign1·(1-α)·fi GFor 0；α=0 item represents that unmanned plane i can not
Way point information is received, the γ on the right side of (4) formula equal sign1·α·fi gFor 0, γ1·(1-α)·fi GIt is not 0, individual i will be from detecting area
Select unmanned plane G to be followed as leader in domain, that is, do not receive in the case of target destination using unmanned plane G as target
Destination simultaneously moves towards it；γ1、γ2And γ3For the weight of each control component, fi gFor target g and unmanned plane i active force letter
Number, fi oFor the force function between obstacle O and unmanned plane i, fi jFor unmanned plane j and unmanned plane i force function, fi GFor
Active force between unmanned plane i and selected leader's unmanned plane G.
5. unmanned plane cluster control method as claimed in claim 4, it is characterised in that：The clustering campaign force function fi j
Construction method it is as follows：
If unmanned plane individual i passes through position individual around visually-perceptible and speed, detection range da；Centered on individual i,
daFor radius, the border circular areas of composition is unmanned plane i search coverage；NeighborhoodFall the search coverage in unmanned plane i for t
Interior unmanned plane individual collections；The search coverage is divided into three regions：Region of rejectionCoherence domainsAnd domain of attractionRow
Denounce domainRnThe point set in spaceCoherence domains
Domain of attraction Wherein, drFor the boundary distances of region of rejection and coherence domains, doFor one
Cause the boundary distances of domain and domain of attraction, 0 ＜ dr＜ do＜ da, RnN dimension sets of real numbers are represented,Represent unmanned plane i and nothing
The distance between man-machine j；
NeighborhoodActive force f between interior unmanned plane j and unmanned plane ii jIt is expressed as：
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Wherein：fi jBy unmanned plane i and unmanned plane j position Pi、PjWith speed vi、vjDetermine；The method of decision：Represent power
Action direction, is unit direction vector, Fi jFor the size of the active force, by unmanned plane i and unmanned plane j position Pi、PjAccording to
(7) formula solves；Vi jFor by unmanned plane i and unmanned plane j position Pi、PjCaused potential field, to Vi jNegative gradient is asked to obtain Fi j；-▽
Vi jFor to Vi jSeek negative gradient；By unmanned plane i and unmanned plane j speed vi、vjCaused active force is in formula (5) on the right side of equal sign
Section 2；Repulsion strength control parameter between unmanned plane i and unmanned plane j,For apart from adjustment parameter,For nobody
Gravitational control parameter between machine i and unmanned plane j,Rate uniformity control ginseng between unmanned plane i and unmanned plane j
Number,WithAn initial value can be first given, is then further adjusted in system experimentation.
6. unmanned plane cluster control method as claimed in claim 4, it is characterised in that：The unmanned plane i moves towards target g
Force function fi gConstruction method it is as follows：
1) all individuals can obtain way point information
Unmanned aerial vehicle flight path is resolved into a series of sequence location point Track={ T1,T2,...Tm, with the time by airborne or ground
The Automatic dependent surveillance broadcast system transmitting terminal of control station is sent one by one, if the every frame unmanned plane of cluster internal can be by airborne wide
Broadcast formula automatic dependent surveillance system receiving terminal real-time reception Automatic dependent surveillance broadcast system transmitting terminal transmission waypoint location,
Speed, the individual position deviation with current destination areConstruct the active force letter between target g and unmanned plane i
Number fi gIt is as follows：
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Wherein,
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Wherein：fi gFor the active force between target g and unmanned plane i, by unmanned plane i and target g position Pi、TkWith speed vi、vg
Determine；The method of decision is as follows：The action direction of the active force is represented, is unit direction vector, Fi gFor the big of the active force
It is small, solved by unmanned plane i and target g position according to (9) formula, the distance between unmanned plane i and target g areThe active force as caused by unmanned plane i and target g speed difference is the Section 2 on the right side of equal sign in (8) formula；Its
Middle vgAsk method as follows：Unmanned aerial vehicle flight path is being resolved into a series of sequence location point Track={ T1,T2,...TmAfter, if often
Two adjacent track points TkAnd Tk+1Between the time interval broadcast be Δ t, k=1...m-1, then target destination is in the flight path section
Flying speed vgFor Action intensity control coefrficient between unmanned plane i and target g, rτFor target g and nothing
The boundary distances that gravitation form between man-machine i changes；
2) small part individual can obtain way point information
In the case where small part individual can obtain way point information, the individual for flight path information can be obtained, described in 1)
Method act power fi g；Individual i for way point information can not be obtained, then selected using following methods and speed is moved in neighborhood
Degree changes most fast individual G：
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Wherein,Represent unmanned plane j in t and t- τ moment all unmanned plane i's
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Interior unmanned plane j location variation,It is unmanned plane j in the position of t,It is unmanned plane j in the position at t- τ moment；It is individual
After body i picks out fastest individual G using the method described in (10) formula from neighborhood, it is followed as target,
Therebetween by being acted on minor function：
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Wherein,
Wherein：fi GFor the active force between unmanned plane G and unmanned plane i, by unmanned plane i and unmanned plane G position Pi、PGAnd speed
vi、vGDetermine；The method of decision is as follows：The direction of the active force is represented, is unit direction vector, Fi GFor the big of the active force
It is small, by unmanned plane i and unmanned plane G position Pi、PGSolved according to (12) formula, the distance between unmanned plane i and unmanned plane GBy unmanned plane i and unmanned plane G speed vi、vGCaused active force is second on the right side of equal sign in (11) formula
；drFor the boundary distances of gravitation and repulsion, dr+rτGravitation form between UAV targets' individual G and unmanned plane i occurs
The boundary distances of change；Repulsion strength control coefficient between unmanned plane i and unmanned plane G,For apart from adjustment parameter,It is the gravitational control coefrficient between unmanned plane i and unmanned plane G,Between unmanned plane i and unmanned plane G
Rate uniformity control coefrficient,WithAn initial value can be first given, then is entered in system experimentation
One step section.
7. unmanned plane cluster control method as claimed in claim 4, it is characterised in that：
If the warning distance between individual i and barrier O is γβ, wherein γβ＜ da, then therebetween by being carried out with minor function
Control：
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Wherein,
Wherein：For the active force between obstacle O and unmanned plane i, by unmanned plane i and obstacle O position Pi、POWith speed vi、vO
Determine, the method for decision：The action direction of the active force is represented, is unit direction vector, Fi OFor the size of the active force,
By unmanned plane i and obstacle O position Pi、POSolved according to (14) formula, the distance between unmanned plane i and obstacle OSeparately by unmanned plane i and obstacle O speed vi、vOCaused active force is second on the right side of equal sign in (13) formula
；γβWarning distance between unmanned plane i and barrier O,For apart from adjustment parameter,For unmanned plane i and obstacle O it
Between repulsion intensity adjustment coefficient,Rate uniformity control coefrficient between unmanned plane i and obstacle O,
And γβAn initial value can be first given, then is further adjusted in system experimentation.
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Also Published As
| Publication number | Publication date |
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| CN108196583B (en) | 2020-09-01 |
| CN108121358A (en) | 2018-06-05 |
| CN107340784B (en) | 2018-04-17 |
| CN108196583A (en) | 2018-06-22 |
| CN108121358B (en) | 2020-08-28 |
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