CN107491086A - Unmanned plane formation obstacle avoidance and system under time-varying network topology - Google Patents
Unmanned plane formation obstacle avoidance and system under time-varying network topology Download PDFInfo
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- CN107491086A CN107491086A CN201710656526.9A CN201710656526A CN107491086A CN 107491086 A CN107491086 A CN 107491086A CN 201710656526 A CN201710656526 A CN 201710656526A CN 107491086 A CN107491086 A CN 107491086A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention discloses the unmanned plane formation obstacle avoidance and system under a kind of time-varying network topology, its method includes：Current unmanned plane network topology situation is obtained according to the positional information of current each unmanned plane；According to current unmanned plane network topology situation, the global formation information of current unmanned plane is obtained using distributed transmission mode；The area information obtained according to the sensor of border unmanned plane carries out the clear area that localized transmission calculates the overall situation；According to the global formation information of current unmanned plane and clear area, optimization calculates target formation；Unmanned plane is distributed to each target point according to the target formation calculated.Present invention reduces the communication overhead of entirety and time to spend, the topology change caused by the change of formation during formation is also contemplated simultaneously, the topological model of slice type is established, different topologys is updated according to current formation state in different time slots, makes algorithm closer to practical application.And it ensure that the globality of formation.
Description
Technical field
The present invention relates to the unmanned plane under multiple no-manned plane Formation Technology field, more particularly to a kind of time-varying network topology to form into columns
Barrier-avoiding method and system.
Background technology
With unmanned plane driving technology fast development and unmanned plane it is extensive civilian, people also gradually recognize it not
Benefit caused by extensive use of the same trade.Therefore, with being continuously increased to unmanned plane demand, multi-machine collaborative completes task
Demand also constantly expanding.Multi-machine collaborative complete task it is most crucial be exactly multiple aircraft formation technology.
Relative maturity and more common formation algorithm mainly include leader-wing plane method, Artificial Potential Field Method, are based at present
Behavior method and virtual architecture method.There is traditional the most frequently used pid algorithm in addition to above-mentioned algorithm, traditional pid algorithm is being compiled
Team, which does, certain effect during unaccelerated flight, but can not adapt to turning flight and obstacle avoidance；The solution of new optimized algorithm
Evaluation time is grown, and real-time is bad.In order to improve the robustness of formation algorithm and security, present formation algorithm also needs to consider nothing
Uncertain factor present in man-machine coordination flight course, chain between the part machine as caused by communicated between machine packet loss, time delay and interference
Break down on road.Meanwhile during cluster is formed into columns, aside from care to formation obstacle avoidance and beyond keeping rank, also
It has to be remarked that collided between avoiding machine, such as the change of suddenly change, formation etc. of formation motion mode, prevent the strategy collided
Collided between the machine for seeking to avoid to occur under disturbance.Therefore just there are many formation of the research based on Artificial Potential Field Method now
Algorithm, rejection factor is adjusted to reach the purpose of collision free according to the size of the distance between two machines.Also using improving road
Footpath planning algorithm prevents unmanned plane and collision on the ground, but mainly for landform and fixed obstacle.Also there is researcher will
Hit-treatment treats as one kind in threat types, and the constraints as formation algorithm is taken in seek suboptimal solution.
In summary, multiple aircraft formation problem is a multidisciplinary and cross-cutting issue for technical field, is one difficult
Research topic.Current formation algorithm major defect has the following aspects.
1st, most algorithm is all based on leader-wing plane model, leader is not controlled in research, coordination control strategy is only right
Wing plane works, and is that one kind follows mechanism, the poor robustness of algorithm, whole to compile when leader or virtual leader go wrong
Team's algorithm cannot work, and also there is a big difference with real multiple aircraft formation and cluster formation thought.
2nd, multiple aircraft formation system is higher to requirement of real-time, many control algolithms, such as neural computing iterations mistake
Height, operation time length, it is difficult to realized in engineering, this is also obstacle of many present intelligent algorithms in practical application.
3rd, multiple aircraft formation distributed controll has to the changeable problem of communications link condition between consideration unmanned plane, but at present very
More algorithms all be consider desired communication under the conditions of.
The content of the invention
The present invention provides that a kind of robustness is good, can ensure overall link stability of forming into columns, low communication expense and it is low when
Prolong the unmanned plane formation obstacle avoidance and system under the time-varying network topology of cost.
To achieve the above object, the unmanned plane formation obstacle avoidance under a kind of time-varying network topology provided by the invention, bag
Include：
Current unmanned plane network topology situation is obtained according to the positional information of current each unmanned plane；
According to the current unmanned plane network topology situation, it is global that current unmanned plane is obtained using distributed transmission mode
Formation information；
The area information obtained according to the sensor of border unmanned plane carries out localized transmission and calculates the accessible of the overall situation
Region；
According to the global formation information of current unmanned plane and clear area, optimization calculates target formation；
Unmanned plane is distributed to each target point according to the target formation calculated.
Wherein, the global formation information of the current unmanned plane of the basis and clear area, optimization calculate target formation
The step of include：
According to the global formation information of current unmanned plane and clear area, nonlinear optimization algorithm SQP optimization sides are utilized
Method calculates target formation to optimize.
Wherein, the unmanned plane formation obstacle avoidance under the time-varying network topology also includes：
Current unmanned plane network topology is constantly updated according to the positional information of unmanned aerial vehicle group at different moments.
Wherein, the target formation that the basis calculates includes to distribute unmanned plane to the step of each target point：
Whether the center of the target formation more currently calculated overlaps with final target point；If the target team currently calculated
The center of shape overlaps with target point, then distributes unmanned plane to target point according to the target formation calculated, otherwise, return performs step
Suddenly：Current unmanned plane network topology situation is obtained according to the positional information of current each unmanned plane.
Wherein, the positional information of the unmanned aerial vehicle group of the basis at different moments constantly updates current unmanned plane network topology
Step includes：
The distance of the point-to-point transmission drawn using current unmanned plane position and default communication radius, which are relatively calculated, works as
Preceding unmanned plane network topology.
Wherein, it is described according to the current unmanned plane network topology situation, obtained currently using distributed transmission mode
The step of formation information of the unmanned plane overall situation, includes：
According to the current unmanned plane network topology situation, current formation is calculated using distributed information transmission means
Formation, wherein, each unmanned plane is only communicated with adjacent unmanned plane, and the information of transmission is the convex closure that the current unmanned plane calculates
Network, obtain updating the boundary node and interior nodes in current flight pattern and formation after convex closure network every time, circulated with this, circulation time
Number is topological diameter.
Wherein, the area information that the sensor according to border unmanned plane obtains carries out localized transmission and calculates the overall situation
Clear area the step of include：
The area information obtained according to the sensor of border unmanned plane, calculated using centralized information transmission means current
Global movable region, according to the clear space domain information of different boundary point in formation come merge calculate it is global accessible
Area information.
Wherein, the unmanned plane formation obstacle avoidance under the time-varying network topology also includes：
Performance Evaluation is carried out to the unmanned plane formation obstacle avoidance under time-varying network topology.
The present invention also proposes the unmanned plane formation obstacle avoidance system under a kind of time-varying network topology, including：Memory, processor
And the computer program of storage on the processor, the computer program are realized as above institute during the computing device
The step of method stated.
Beneficial effects of the present invention are：
The present invention is based on distributed and centralization information transferring method come for part phase different in formation algorithm
The transmission means answered, spend, while also contemplated during formation because of team so as to reduce overall communication overhead and time
Topology changes caused by the change of shape, the topological model of slice type is established, according to current formation state in different time slots
Different topologys is updated, makes algorithm closer to practical application.In addition, the present invention regards multiple aircraft formation as an entirety to be compiled
The design of team's obstacle avoidance algorithm, ensure that the globality of formation, is a kind of headless formation obstacle avoidance algorithm, overcomes common volume
The defects of team's system.
Brief description of the drawings
Fig. 1 a are the schematic flow sheets of the unmanned plane formation obstacle avoidance under time-varying network topology of the present invention；
Fig. 1 b are the system architecture diagrams of the present invention；
Fig. 2 is inventive algorithm operation time slot map；
Fig. 3 is formation illustraton of model of the present invention；
Fig. 4 a and Fig. 4 b are two kinds of unmanned plane avoidance emulation schematic diagrames respectively；
Fig. 5 is communication overhead ratio schematic diagram in Performance Evaluation of the present invention；
Fig. 6 a and Fig. 6 b are transmission time and calculating time cost ratio schematic diagram in Performance Evaluation of the present invention respectively.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Multiple no-manned plane under application communication constraint of the present invention is formed into columns, based on distributed and centralized information transmission means, profit
The unmanned plane formation obstacle avoidance algorithm under a kind of time-varying topology is proposed with the topological model of slice type, by formation different phase
Different information transmission modes is used according to transmission information is different, while by unmanned plane with generally object designs formation algorithm,
Ensure overall link stability of forming into columns, design the multiple aircraft formation obstacle avoidance algorithm of low communication expense and low time delay cost.
Specifically, as shown in Figure 1a, the present invention proposes the unmanned plane formation obstacle avoidance under a kind of time-varying network topology, bag
Include：
Step S1, current unmanned plane network topology situation is obtained according to the positional information of current each unmanned plane；
Step S2, according to the current unmanned plane network topology situation, using distributed transmission mode obtain currently without
Man-machine global formation information；
Step S3, the area information obtained according to the sensor of border unmanned plane carry out localized transmission and calculate the overall situation
Clear area；
Step S4, according to the global formation information of current unmanned plane and clear area, optimization calculates target formation；
Step S5, unmanned plane is distributed to each target point according to the target formation calculated.
Further, the unmanned plane formation obstacle avoidance under the time-varying network topology also includes：
Current unmanned plane network topology is constantly updated according to the positional information of unmanned aerial vehicle group at different moments.
Wherein, the global formation information of the current unmanned plane of the basis and clear area, optimization calculate target formation
The step of include：
According to the global formation information of current unmanned plane and clear area, nonlinear optimization algorithm SQP optimization sides are utilized
Method calculates target formation to optimize.
Wherein, the target formation that the basis calculates includes to distribute unmanned plane to the step of each target point：
Whether the center of the target formation more currently calculated overlaps with final target point；If the target team currently calculated
The center of shape overlaps with target point, then distributes unmanned plane to target point according to the target formation calculated, otherwise, return performs step
Suddenly：Current unmanned plane network topology situation is obtained according to the positional information of current each unmanned plane.
The positional information of the unmanned aerial vehicle group of the basis at different moments constantly updates the step of current unmanned plane network topology
Including：
The distance of the point-to-point transmission drawn using current unmanned plane position and default communication radius, which are relatively calculated, works as
Preceding unmanned plane network topology.
It is described according to the current unmanned plane network topology situation as a kind of implementation, using distributed transmission
Mode, which obtains the step of current unmanned plane global formation information, to be included：
According to the current unmanned plane network topology situation, current formation is calculated using distributed information transmission means
Formation, wherein, each unmanned plane is only communicated with adjacent unmanned plane, and the information of transmission is the convex closure that the current unmanned plane calculates
Network, obtain updating the boundary node and interior nodes in current flight pattern and formation after convex closure network every time, circulated with this, circulation time
Number is topological diameter.
As a kind of implementation, the area information that the sensor according to border unmanned plane obtains carries out centralized biography
Defeated the step of calculating global clear area, includes：
The area information obtained according to the sensor of border unmanned plane, calculated using centralized information transmission means current
Global movable region, according to the clear space domain information of different boundary point in formation come merge calculate it is global accessible
Area information.
Further, the unmanned plane formation obstacle avoidance under the time-varying network topology also includes：
Performance Evaluation is carried out to the unmanned plane formation obstacle avoidance under time-varying network topology.
The present invention is based on distributed and centralization information transferring method come for part phase different in formation algorithm
The transmission means answered, spend, while also contemplated during formation because of team so as to reduce overall communication overhead and time
Topology changes caused by the change of shape, the topological model of slice type is established, according to current formation state in different time slots
Different topologys is updated, makes algorithm closer to practical application.In addition, the present invention regards multiple aircraft formation as an entirety to be compiled
The design of team's obstacle avoidance algorithm, ensure that the globality of formation, is a kind of headless formation obstacle avoidance algorithm, overcomes common volume
The defects of team's system.
Implementation of the present invention is described in detail below：
1st, formation algorithm mechanism under time-varying topology
The algorithm is to be designed with forming into columns for overall thought, is calculated and is perceived using each unmanned plane under current time
Parameter come obtain the overall situation information, afterwards using SQP optimized algorithms, to optimize to obtain subsequent time target to formation parameter
Formation.The centralized and distributed method being combined is logical to reduce according to the different designs of each several part transmission information amount by the present invention
Believe expense and time delay.Present topology is constantly updated according to the positional information of unmanned aerial vehicle group at different moments again simultaneously, so as to real
Formation algorithm under current variable topological.
The system includes five parts, is updated including topology, the current formation of distributed transmission positional information calculation, collection
Chinese style transmission environment information calculates current clear area, optimization aim formation, task distribution.The overall structure block diagram of system is such as
Shown in Fig. 1 b, Fig. 1 b are the system architecture diagrams of the present invention.
The present invention obtains current topology situation according to the positional information of current each unmanned plane first, then with distribution
Transmission means come make each unmanned plane all obtain the overall situation formation information.The area obtained afterwards further according to the sensor of border unmanned plane
Domain information carries out the clear area that localized transmission calculates the overall situation.SQP is utilized further according to current formation and clear area
Optimization method calculates target formation to optimize.Finally unmanned plane is distributed to each target point according to the target formation calculated.
The time slot map during algorithm performs of the present invention is as shown in Fig. 2 Fig. 2 is inventive algorithm operation time slot map.
Wherein grey time slot is renewal communication topology figure, and calculating time slot includes calculating current formation, calculates clear space
Domain, optimization aim formation, distribution time slot include distributing unmanned plane to each target point.Algorithm is constantly to circulate, and is followed every time
Whether the center for the target formation that ring will be calculated more currently overlaps with final target point, if misaligned continue to repeat
Algorithm circulation is performed, when the center for calculating target formation overlaps with target point, then with regard to end loop, algorithm performs terminate.
Specifically related to the step of include：
(1) topology renewal：Utilize the distance dij and default communication radius R of current position P (t) point-to-point transmissions drawn
Compare to calculate current topology.Topological diagram is defined as G (t)={ V, E (t) }, wherein V={ v1,v2,…,vnBe defined as saving
The quantity of point, wherein unmanned plane is n, E (t)={ (vi,vj)t|vi,vj∈ V, i ≠ j } be defined as side, i.e., unmanned plane i and j is in t
The connectedness at quarter.The collection for defining unmanned plane is combined intoAnd the diameter that d is topological diagram is defined, i.e., in traffic diagram
Longest distance in all point-to-point transmission beelines.Topological update method is expressed by following three to realize：
G (t)={ V, E (t) } (1)
dij(t)=norm (Pi(t)-Pj(t)),i,j∈I (3)
(2) current formation is calculated：It is that current flight pattern is calculated using distributed information transmission means, each unmanned plane
Only communicated with adjacent unmanned plane, the information of transmission is the convex closure network Si that the current unmanned plane calculates.Obtain convex closure network every time
The boundary node and interior nodes in current formation and formation can be all updated afterwards.Cycle-index is topological diameter d, specific algorithm puppet generation
Code is as follows：
(3) clear area is calculated：It is the movable region that the current overall situation is calculated using centralized information transmission means,
M boundary point being calculated according to previous step, calculated entirely according to the clear space domain information of different boundary point to merge
Office clear space domain information Qi.It is to find an internal key node here simultaneously, the key node needs the condition met
Be to boundary point hop count sum it is most short.Afterwards, the clear space domain information of boundary point is subjected to centralized calculation so as to obtain entirely
The accessible information Q of office, is sent all nodes into formation by the node again afterwards.Specific pseudo-code of the algorithm is as follows：
(4) formation is optimized：Key point is counted by currently available clear area by nonlinear optimization algorithm (SQP)
Calculate optimization formation F* (x).Majorized function is defined as follows：
Wherein g is coordinate of ground point, and s is the center point coordinate formed into columns, w andRespectively form into columns to expand and it is expected to form into columns and expand
.θ andRespectively the formation anglec of rotation and the expectation anglec of rotation.First constraints therein means that boundary point can not
Beyond clear area scope, second constraints means that the distance of formation point-to-point transmission is more than the radius r of unmanned plane, the
Three constraintss mean the anglec of rotation of unmanned plane within the specific limits.Here it is as shown in Figure 3 to provide formation model.
Here the point in formation is divided into interior point and exterior point.Wherein the boundary point of the point position formation of grey, white point are
Point in formation, therefore obtained formation function is F (x), x=[w, s, θ].
(5) task is distributed：Unmanned plane is distributed to target point based on target formation obtained above, the mesh of the majorized function
Mark is that the path distance sum of each unmanned plane is minimum, and majorized function is defined as follows：
Wherein Pi is the changing coordinates point of i-th of unmanned plane,It is in allocative decision σ:Target point under I → I.
As shown in figures 4 a and 4b, it is the simulated effect figure of putting of the present invention, Fig. 4 a are that 4 unmanned plane avoidances emulate, snapshot
Time is respectively 4s, 8s, 12s, 16s, 20s；Fig. 4 b are the emulation of 16 unmanned plane avoidances, and Snapshot time is respectively 8s, 16s,
24s, 32s, 20s, wherein grey square are barrier, and round dot is unmanned plane, and the dotted line between point and point is topological link situation.
The emulation tool of the present invention is MATLAB, and simulation parameter sets such as following table：
The simulation parameter of table 1 is set
2nd, Performance Evaluation
Here it is mainly the performance of two aspects, first is communication overhead, i.e., required transmission in whole one cycle
Individual all information content, second is to spend the time, i.e., the total time to be calculated and transmitted in whole one cycle.It is wherein logical
Letter expense is defined as follows：
Wherein piAnd qiRespectively i-th of UAV system sends the number of corresponding informance in entirely circulating.
Time cost is defined as follows：
TC=Tc×w+Ts×u (8)
Wherein TcThe time of set operation needs, T are solved for singlesThe time of single information transfer, w and u in one hop link
What is represented respectively is the total degree completed altogether of the appropriate section in whole cyclic process.
As a comparison, the value for the quantity n of unmanned plane that the present invention emulates is and straight point of communication radius from 5 to 50
Wei not 1m, 2m and 4m.N point is randomly generated on map to calculate communication overhead and the time cost under different condition, for
Different primary condition simulated conditions, the present invention do 100 test blocks averagely result to the end.Obtained Performance Evaluation value
Be the present invention method performance number with all with the ratio of performance during Distributed Calculation.Both performances all pass through both the above
Formula calculates result and contrasted, and comparison diagram is as shown in Fig. 5 and Fig. 6 a and Fig. 6 b：
It can be obtained by performance comparison figure, method of the invention will be merely with distributed transmission means on communication overhead
Lack, and the increase of the quantity with unmanned plane, the reduction of communication radius, rate value are reducing, and performance is more preferable.Together
When, for transmission time with calculate the time cost from the point of view of curvilinear trend it is identical, illustrate the present invention algorithm communication overhead and
Time cost will be greatly decreased.
The present invention is based on distributed and centralization information transferring method come for part phase different in formation algorithm
The transmission means answered, spend, while also contemplated during formation because of team so as to reduce overall communication overhead and time
Topology changes caused by the change of shape, the topological model of slice type is established, according to current formation state in different time slots
Different topologys is updated, makes algorithm closer to practical application.There is the present invention to regard multiple aircraft formation as an entirety to be compiled again
The design of team's obstacle avoidance algorithm, ensure that the globality of formation, is a kind of headless formation obstacle avoidance algorithm, overcomes common volume
The defects of team's system.
In addition, the present invention also proposes the unmanned plane formation obstacle avoidance system under a kind of time-varying network topology, including：Memory,
The computer program of processor and storage on the processor, is realized when the computer program is by the computing device
The step of method as described above, specific implementation principle refer to the various embodiments described above, will not be repeated here.
In addition, the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium storage has meter
Calculation machine program, the step of realizing method as described above when the computer program is by the computing device, specific implementation are former
Reason refer to the various embodiments described above, will not be repeated here.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
Equivalent structure or the flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (9)
- A kind of 1. unmanned plane formation obstacle avoidance under time-varying network topology, it is characterised in that including：Current unmanned plane network topology situation is obtained according to the positional information of current each unmanned plane；According to the current unmanned plane network topology situation, the global team of current unmanned plane is obtained using distributed transmission mode Shape information；The area information obtained according to the sensor of border unmanned plane carries out the clear area that localized transmission calculates the overall situation；According to the global formation information of current unmanned plane and clear area, optimization calculates target formation；Unmanned plane is distributed to each target point according to the target formation calculated.
- 2. the unmanned plane formation obstacle avoidance under time-varying network topology according to claim 1, it is characterised in that described According to the global formation information of current unmanned plane and clear area, optimizing the step of calculating target formation includes：According to the global formation information of current unmanned plane and clear area, using nonlinear optimization algorithm SQP optimization methods come Optimization calculates target formation.
- 3. the unmanned plane formation obstacle avoidance under time-varying network topology according to claim 1, it is characterised in that when described The unmanned plane formation obstacle avoidance become under network topology also includes：Current unmanned plane network topology is constantly updated according to the positional information of unmanned aerial vehicle group at different moments.
- 4. the unmanned plane formation obstacle avoidance under time-varying network topology according to claim 3, it is characterised in that described Include according to the target formation calculated to distribute unmanned plane to the step of each target point：Whether the center of the target formation more currently calculated overlaps with final target point；If the target formation currently calculated Center overlaps with target point, then distributes unmanned plane to target point according to the target formation calculated, otherwise, return and perform step： Current unmanned plane network topology situation is obtained according to the positional information of current each unmanned plane.
- 5. the unmanned plane formation obstacle avoidance under time-varying network topology according to claim 3, it is characterised in that described The step of constantly updating current unmanned plane network topology according to the positional information of unmanned aerial vehicle group at different moments includes：The distance of the point-to-point transmission drawn using current unmanned plane position and default communication radius are current relatively to calculate Unmanned plane network topology.
- 6. the unmanned plane formation obstacle avoidance under time-varying network topology according to any one of claim 1-5, its feature It is, it is described according to the current unmanned plane network topology situation, it is complete that current unmanned plane is obtained using distributed transmission mode The step of formation information of office, includes：According to the current unmanned plane network topology situation, current formation team is calculated using distributed information transmission means Shape, wherein, each unmanned plane is only communicated with adjacent unmanned plane, and the information of transmission is the convex closure that the current unmanned plane calculates Network, obtain updating the boundary node and interior nodes in current flight pattern and formation after convex closure network every time, circulated with this, circulation time Number is topological diameter.
- 7. the unmanned plane formation obstacle avoidance under time-varying network topology according to claim 6, it is characterised in that described The area information obtained according to the sensor of border unmanned plane carries out the step of localized transmission calculates the clear area of the overall situation Including：The area information obtained according to the sensor of border unmanned plane, the current overall situation is calculated using centralized information transmission means Movable region, global clear area is calculated to merge according to the clear space domain information of different boundary point in formation Information.
- 8. the unmanned plane formation obstacle avoidance under time-varying network topology according to claim 7, it is characterised in that when described The unmanned plane formation obstacle avoidance become under network topology also includes：Performance Evaluation is carried out to the unmanned plane formation obstacle avoidance under time-varying network topology.
- A kind of 9. unmanned plane formation obstacle avoidance system under time-varying network topology, it is characterised in that including：Memory, processor with And the computer program of storage on the processor, the computer program are realized that right such as will during the computing device The step of seeking the method any one of 1-8.
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