CN108768712B - Non-omnidirectional communication moving body cluster attitude planning method facing connectivity - Google Patents
Non-omnidirectional communication moving body cluster attitude planning method facing connectivity Download PDFInfo
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Abstract
The invention discloses a communication topology connectivity oriented non-omnidirectional communication moving body cluster attitude planning method, aiming at the search complexity caused by the mutual coupling of a discrete cluster communication topological structure and continuous moving body attitude directions in the non-omnidirectional communication moving body cluster attitude planning, reducing the search space of a topological structure diagram by a heuristic strategy, and simplifying the calculation of moving body attitude search by a diagram decomposition strategy based on a support tree, thereby obtaining a moving body attitude direction solution for ensuring the communication topology connectivity and optimizing the communication performance. The invention can effectively deal with the searching complexity caused by the mutual coupling of the discrete cluster communication topological structure and the continuous moving body attitude direction, and realize the quick problem solving.
Description
Technical Field
The invention relates to the technical field of moving body clusters, in particular to a moving body attitude pointing planning method for communicating to a cluster communication topological structure under the condition of non-omnidirectional communication.
Background
The task is completed through group cooperative work, and compared with the task independently completed by a single moving body, the task can be completed by the group cooperative work, so that the advantages of performance improvement, reliability increase, adaptability enhancement and the like can be brought. Therefore, moving body cluster cooperation technologies such as spacecraft clusters, unmanned aerial vehicle clusters, missile clusters and the like become the leading-edge hotspot field. The smooth communication among the cluster moving bodies is a basic condition for ensuring the cooperative work of the cluster, the basic requirement for the communication among the cluster moving bodies is the connectivity of a communication topological structure, and any two moving bodies in the cluster can communicate with each other only by ensuring the connectivity.
Motion planning and control to ensure communication connectivity of moving body clusters is attracting more and more attention as an important research topic. The existing research method mainly determines the direct communication relationship between the moving bodies in the cluster according to the communication range and the respective relative positions of the moving bodies in the cluster, then establishes the topological structure relationship of the mutual communication of the moving body cluster based on the graph theory and the algebraic graph theory, and controls the relative positions of the moving bodies according to the characteristics of the topological structure diagram so that the communication topological structure diagram keeps the connectivity. The existing research is directed to omnidirectional communication, that is, the communication range of a moving body is limited only by the distance of the moving body, and the research is directed to enabling direct or indirect communication among moving bodies by controlling the relative positions of a moving body cluster. However, in practical applications, there are many cases of non-omnidirectional communication, in which whether moving objects can communicate with each other or not is not only influenced by relative positions but also depends on the pointing directions of directional communication antennas thereof, and in the case of a fixed communication antenna, the pointing directions of postures of the moving objects. For how a moving body cluster of non-omnidirectional communication plans the attitude pointing direction to ensure the connectivity of cluster communication topology, no technical solution is seen.
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is insufficient, and provides a connectivity-oriented non-omnidirectional communication moving body cluster attitude planning method, which solves the feasible attitude solution of each moving body under the condition that the relative position of the moving body in a cluster and the attitude constraint of a cluster cooperative task on the moving body are given, so that a cluster communication topological structure diagram has connectivity.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for planning the attitude of a non-omnidirectional communication moving body cluster facing connectivity comprises the following steps:
1) determining an allowable communication connection set according to the direction of each moving body required by the cluster cooperative task, and constructing an allowable connection diagram;
2) carrying out compatibility analysis on the allowable connection diagram, and solving all 2-compatibility subgraphs of the allowable connection diagram;
3) solving all the support trees of all the 2-compatibility subgraphs;
4) for each support tree in the 2-compatibility support tree set, optimizing the communication direction of the moving body corresponding to each vertex to obtain an optimal complete compatibility support tree;
5) and determining the expected posture of each moving body according to the optimal communication orientation solution of each moving body.
The allowable join graph G is an undirected graph, and is composed of vertices and edges, G ═ V, E, where V is a set of vertices, and V ═ V1,v2,…,vn}，viThe ith vertex which is G corresponds to the ith moving body in the moving body cluster; e is an edge set, E ═ E1,e2,…,emM is the number of edges in E, EkIs the kth side of G, ekDenoted by its two vertices as ek＝(vi,vj)，viAnd vjAre two different vertices in V; k is 1,2, …, m; all edges of the allowable connection graph G are determined using:
wherein i, j ≠ 1,2, …, n; body coordinate system b with alpha as i-th moving bodyiMedium communication antenna pointing
Pointing to task load
The included angle between them; beta is a communication coverage half-cone angle;
pointing and referencing a given constant unit vector in a coordinate system for the ith moving body task load;
the direction vector of the jth moving body relative to the ith moving body is taken as the reference; if the ith moving body and the jth moving body fall into the allowable communication range of each other, there is an allowable communication connection therebetween corresponding to the presence of an edge (v) in the allowable connection diagrami,vj)。
In the step 4), the solving process of the optimal complete compatibility support tree is as follows: for each support tree in the 2-compatible set of support trees, a communication-oriented optimization is performed separately for all its vertices: if the vertex without feasible solution exists, the 2-compatibility support tree cannot be realized and is eliminated; when all the vertexes have feasible solutions, the 2-compatible support tree is a complete compatible support tree, and the optimal solution objective function values of all the vertexes are summed to be used as the optimality index of the support tree; and selecting the complete compatibility support tree with the minimum optimality index from all the found complete compatibility support trees as the optimal complete compatibility support tree.
Determining the expected attitude of the ith moving body by using the following formula:
moving body cluster communication direction for ensuring communication connectivity and optimizing communication performance;
communication direction for ith vertex of 2-compatibility support tree
Best communication direction of;
pointing to a communication antenna in a body coordinate system;
and pointing the task load in the body coordinate system.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a communication topology connectivity-oriented non-omnidirectional communication moving body cluster attitude planning method, which can solve the expected attitude solution of each moving body when the position and attitude pointing constraints of each moving body in a given cluster are given, so that the communication topology structure among the cluster moving bodies has connectivity and the communication performance is optimized. The invention reduces the search space of the communication topological structure chart by a heuristic strategy, simplifies the calculation of the moving body attitude search by a chart decomposition strategy based on a support tree, can effectively deal with the search complexity brought by the mutual coupling of the discrete cluster communication topological structure and the continuous moving body attitude direction, and realizes the rapid problem solving.
Drawings
FIG. 1 shows the orientation of the expected attitude of 6 moving bodies and the topological connection of communication, which are solved by the method of the invention.
FIG. 2 is a flow chart of an algorithm for solving all 2-compatibility subgraphs of the allowable connection graph.
FIG. 3 is a flowchart of an algorithm for solving all 2-consistent subsets of a given set of vertex neighbors.
Detailed Description
It is assumed that there are n rigid moving bodies in the cluster, the communication between the moving bodies is non-omnidirectional communication, i.e. the communication antenna on each moving body is directional, the communication coverage area is with the moving body as the vertex, the communication antenna direction as the center line, the half cone angle as beta, and the height as the maximum communication distance dmaxThe cone region of (a). Two moving bodies can directly communicate only when they are located within communication coverage of each other. If a moving body needs to directly communicate with other moving bodies, the proper direction of a communication antenna of the moving body needs to be realized through the posture rotation of the moving body, so that a communication cone covers the moving body to be communicated. Two moving bodies which cannot directly communicate can indirectly communicate by forwarding information through other moving bodies, if a communication link is required between the two moving bodies. The requirement of the cluster moving bodies for cooperative work requires that any two moving bodies can directly or indirectly communicate with each other, that is, the cluster communication topology is required to be connected.
Because the communication of the cluster moving body is to ensure the execution of the cluster cooperative task, the cluster cooperative task usually has a certain requirement on the posture of the moving body and cannot be changed arbitrarily. The invention aims at a typical cooperative task, and requires that fixed task loads on all moving bodies point to a specific spatial direction. For a fixedly installed task load, the pointing unit vector is a constant vector in the body coordinate system. Let biA body coordinate system for representing the ith moving body, the task load of the ith moving body points to a unit vector at biIs a constant valueVector, using
Indicating that the unit vector has a value in a given reference frame (e.g. the inertial frame)
I is 1,2, …, n. The cooperative task requires that the task load of the ith moving body points to a given constant unit vector in a reference coordinate system
Are superposed, i.e. are
Let biThe unit vector of the direction of the communication antenna of the ith moving body is
Is a constant value vector, and the unit vector is expressed as
And set a body coordinate system biMedium communication antenna pointing
Pointing to task load
All passing through the centroid of the moving body and their included angles are constant α, i ═ 1,2, …, n. In ensuring
Under the condition that the ith moving body is directed at its mission load
The shafts being freely rotatable, the resulting orientation of the communications antenna being
Are all antenna pointing allowed by the cluster cooperative task, i ═ 1,2, …, n.
The technical problem to be solved is that under the condition that the relative position of a moving body in a cluster is given, the communication antenna direction of each moving body is searched in all communication antenna directions allowed by a cluster cooperative task
The cluster communication topological structure diagram which takes each moving body as a vertex and takes the connecting line between the moving bodies capable of directly communicating with each other as a side is communicated, and the communication performance is optimized, namely the included angle between the space direction of the connecting line between the moving body positions corresponding to the vertex of each side in the diagram and the direction of the central line of the antenna of each moving body is as small as possible.
The method of the invention is to find the optimal communication direction solution which ensures topological connection when each moving body has proper space relative position so that communication direction which enables the cluster communication topology to be connected exists, but does not ensure that the communication topology can be realized under any space relative position distribution of the cluster moving bodies. To ensure connectivity of the communication topology, the relative spatial positions and communication directions of the moving objects need to be planned simultaneously, which is not within the scope of the present invention.
The technical scheme of the invention is that the non-omnidirectional communication moving body cluster attitude planning method facing communication topological connectivity is provided, aiming at the search complexity caused by the mutual coupling of the discrete cluster communication topological structure and the continuous moving body attitude direction in the non-omnidirectional communication moving body cluster attitude planning, the search space of a topological structure diagram is reduced by a heuristic strategy, the calculation of the moving body attitude search is simplified by a diagram decomposition strategy based on a support tree, and therefore the moving body attitude direction solution for ensuring the communication topological structure diagram connectivity and optimizing the communication performance is obtained. Specifically, the method comprises the following steps:
(1) and determining an allowable communication connection set according to the directions of all moving bodies required by the cluster cooperative task, and constructing an allowable connection graph.
Defining an allowable communication range of an ith moving body for a given mission load bearing
Conditional on all permitted directions of the antennas to the union of the communication ranges covered, i.e. antenna direction
Around a given core
The direction rotates for one circle, and a communication cone which is limited by the maximum communication distance and takes the direction of the antenna as a center is in a space sweeping area. If the ith moving body and the jth moving body are mutually positioned in the allowable communication range of the other party, the ith moving body and the jth moving body are in allowable communication connection, and the moving body meeting the direction requirement of the moving body can be found
And
enabling both to communicate directly.
Given the centroid position vector of the ith moving body in the reference coordinate system parameters as
Wherein xi,yi,ziEach represents a coordinate component of the position of the ith moving body in the reference coordinate system, i is 1,2, …, n. The direction vector of the jth moving body relative to the ith moving body is
And i ≠ j. Conditions are given for the jth moving body to be within the allowable communication range of the ith moving body according to the sizes of the angles α and β (i, j ≠ 1,2, …, n, and i ≠ j):1) if beta is less than or equal to alpha and beta is less than or equal to pi-alpha, then
And
must be in the interval [ alpha-beta, alpha + beta ]]Internal; 2) if alpha is not more than beta is not more than pi-alpha, then
And
must be in the interval [0, alpha + beta ]]Internal; 3) if Pi-alpha is not more than beta is not more than alpha, then
And
the included angle of (a) must be in the interval [ alpha-beta, pi ]]Internal; 4) if alpha is less than or equal to beta and pi-alpha is less than or equal to beta, then
And
the included angle of (a) must be in the interval of [0, pi ]]And (4) the following steps. Whether the jth moving body is within the allowable communication range of the ith moving body is judged according to the formula (1) (i, j is 1,2, …, n, i ≠ j):
the allowable join graph G is an undirected graph consisting of vertices and edges, G ═ V, E, where V is the set of vertices, and V ═ V1,v2,…,vn}，vi(i ═ 1,2, …, n) is the ith vertex of G, corresponding to the ith moving body in the moving body cluster; e is an edge set, E ═ E1,e2,…,emM is the number of edges in E, Ek(k ═ 1,2, …, m) is the kth side of G, ekDenoted by its two vertices as ek＝(vi,vj) Wherein v isiAnd vjAre two different vertices in V. Allowing connection of edge e of graph Gk＝(vi,vj) Illustrating its vertex viAnd vertex vjThere is a connection relationship between them, that is, it means that there is an allowable communication connection relationship between the ith moving body and the jth moving body. According to the condition of the formula (1), if the ith moving body and the jth moving body fall within the allowable communication range of each other, there is an allowable communication connection therebetween, corresponding to the existence of an edge (v) in the allowable connection diagrami,vj). By examining all i, j ≠ 1,2, …, n, and i ≠ j using the conditions of equation (1), all edges of the admissible connection graph G can be determined.
All possible direct communication connections among the cluster moving bodies are contained in the allowable connection graph, and the actually realized communication topological structure graph is necessarily a sub graph of the allowable connection graph, so the allowable connection graph limits the range of the cluster communication connection topological structure graph.
(2) And carrying out compatibility analysis on the allowable connection diagram, and solving all 2-compatibility subgraphs of the allowable connection diagram.
Allowable connection to a vertex v in the graph GiAssociated 2 edges (v)i,vj) And (v)i,vk) Compatibility is defined as: there is one communication antenna pointing direction
So that the jth and kth moving bodies are simultaneously located within the antenna communication coverage of the ith moving body, i.e., the edge (v)i,vj) And (v)i,vk) Corresponding direct communication may be achieved simultaneously. Allowing connection of a vertex v in the graphiAssociated 2 edges (v)i,vj) And (v)i,vk) Has compatibility and is equivalent to the vertex viTwo neighbor vertices v ofjAnd vkHas compatibility. If a supporting subgraph of the connection graph is allowed, any vertex is connected with the supporting subgraphAll edges associated are pairwise compatible, i.e. all neighbor vertices are pairwise compatible, then the subgraph is called a 2-compatible subgraph of the allowable join graph.
According to the characteristics of cone coverage of communication antenna, the connection diagram with vertex v is allowediAssociated 2 edges (v)i,vj) And (v)i,vk) The conditions with compatibility are:
and
is less than 2 beta. If the condition of formula (2) is satisfied, it is consistent:
for an actual communication topological structure diagram, each edge of the actual communication topological structure diagram represents an actual direct communication relationship between a pair of moving bodies, so all edges associated with the same vertex in the actual communication topological structure diagram must be compatible two by two. If two sides associated with a vertex in the connection graph are incompatible, the two sides cannot necessarily exist in the same actual communication topology. According to the characteristic, the allowable connection graph is decomposed according to the compatibility of the edges associated with the vertexes, and all 2-compatibility subgraphs are generated. The 2-compatibility subgraphs have fewer edges than the allowable connection subgraphs, and searching for feasible solutions on these 2-compatibility subgraphs can reduce the number of combinations and computational complexity.
The algorithm for solving all 2-compatible subgraphs of the allowed connection graph G is shown in FIG. 2, wherein a subroutine NBR _2CMPT _ SETS for solving all 2-compatible subsets of the specified vertex neighbor set is called, and the flow chart of the subroutine is shown in FIG. 3.
(3) All support trees are solved that allow to connect all 2-compatible subgraphs of the graph.
And (3) solving all the support tree subgraphs of each 2-compatible subgraph obtained in the step (2) by adopting an existing method. The union of all the support trees of each 2-compatible subgraph constitutes the 2-compatible set of support trees of the system.
In any 2-compatible support tree, all edges associated with each vertex are compatible pairwise, and according to the minimum connectivity characteristic of the support tree, communication connections corresponding to all edges associated with each vertex must be simultaneously realized, and the communication topology corresponding to the support tree is realizable and connected. This is to require that there be a communication direction
The communication coverage of the ith vertex can simultaneously cover all its neighbor vertices, and all the neighbor vertices of the ith vertex are said to be completely compatible, or all the edges associated with the ith vertex are said to be completely compatible. A communication topology connection graph is said to have complete compatibility, i.e. to be communicatively realizable, if for each vertex in the communication topology connection graph all its neighbor vertices are completely compatible.
Each possible communication topology of a cluster, and connected, necessarily has at least one sub-graph of a support tree, which, due to its minimal connected nature, necessarily has complete compatibility and thus also must have 2-compatibility. On the other hand, by definition, the 2-compatible support tree sub-set of the system contains the support trees for all the achievable topologies of the system. If the system has a realizable connectivity communication topology, it is inevitable to find the corresponding realizable support tree in the set of 2-compatible support trees obtained according to the steps of the present invention. This means that a connectivity-oriented antenna pointing search is performed in the obtained 2-compatibility support tree set, and the search space completely contains all communication antenna pointing solutions specified by the achievable connectivity topology.
(4) And optimizing the communication direction of the moving body corresponding to each vertex for each support tree in the system 2-compatibility support tree set to obtain the optimal complete compatibility support tree.
For each vertex v of the 2-compatible support treei(i＝1,2,…,n)，Conducting a communication antenna pointing search if the proper communication antenna pointing can be found
Let vertex viAll the moving bodies corresponding to the adjacent vertexes are positioned at the vertex viThe 2-compatible support tree is fully compatible and realizable within the communication coverage of the corresponding moving body. A completely compatible 2-compatibility support tree ensures that the completely compatible communication direction solution is not unique, and the invention optimizes according to the communication performance index to obtain the optimal communication direction of each moving body. In addition, in the 2-compatibility support tree set, the support trees belonging to complete compatibility are usually not unique, and in order to obtain the best communication performance, the support trees with the best performance and the corresponding best communication directions are selected according to the communication direction optimization results of all the support trees with complete compatibility.
The communication antenna orientation on each 2-compatibility support tree is directed to the search problem and is represented as an optimization problem. And defining optimality indexes and communication realizability constraints according to the deviation of the space direction of each edge associated with the same vertex on the support tree and the direction of the communication antenna of the vertex moving body, wherein the smaller the deviation of the space direction of the edge associated with the vertex and the communication direction of the vertex is, the better the communication performance is, and if the deviation is greater than the half cone angle beta of the communication cone, the edge cannot be realized in communication.
For a 2-compatible support tree, consider the communication direction of the ith vertex
To the optimization problem of (2). Due to the fact that
To be received
Constrained to wind at a fixed included angle alpha
The rotation is carried out, and the rotation is carried out,to describe the rotation and use it as an optimization variable, a coordinate system reference is first established. Find out
Minimum absolute value coordinate component in reference coordinate system, unit vector of coordinate direction of the component
As a reference, the mass center of the ith moving body is taken as the origin and the direction is obtained
And
pqr in the direction of coordinate axisiA coordinate system, wherein:
to describe communication direction
Load pointing around task
To communicate a directional vector
Rotate to
And
value in determined plane
As a reference, then
Can be regarded as
Wound around
Angle of rotation gammaiThe latter space unit vector, then the communication direction optimization problem is that of optimizing the angle gammaiObtaining proper communication direction
(Vector)
At pqriExpressed in a coordinate system as
Wherein M is1(. h) represents a basic rotation matrix around a first coordinate axis, and
Using equation (3), can be based on γiCalculated in a reference coordinate system
And (5) vector quantity.
For a 2-compatible support tree, the communication of the ith (i ═ 1,2, …, n) vertex points to
Of (2), i.e. of gammaiObtaining optimal communication directionality
The problem of (2) can be expressed as:
s.t.
0≤γi<2π
wherein NbrsiSet of neighbor vertices representing the ith vertex in a given 2-compatible support tree, aijIs an edge (v)i,vj) The difference between the cosine of the communication direction angle of the ith vertex and the cosine of the maximum allowable angle beta. Constraint requirement a of optimization problemijIs positive, guarantee edge (v)i,vj) May be used. a isijThe size of (v) indicates the edge (v)i,vj) The smaller the included angle between the spatial direction of (a) and the communication direction of the moving body corresponding to the ith vertex, the better the communication performance (the strength of communication connection), aijThe larger the value of (c). Therefore, the optimization problem is to find the best communication direction
The communication connection strength value between the vertex i and each neighbor is a positive value, so that the communication can be realized, and the sum of the communication connection strength values between the vertex i and each neighbor is used as a communication performance index to reach the maximum.
For each support tree in the 2-compatible set of support trees, a communication-oriented optimization is performed separately for all its vertices: if the vertex without feasible solution exists, the 2-compatibility support tree cannot be realized and is eliminated; when all the vertexes have feasible solutions, the 2-compatibility support tree is a complete compatibility support tree, and the optimal solution objective function values of all the vertexes are summed to serve as the optimality index of the support tree. The complete compatibility support tree with the minimum optimality index is selected from all the found complete compatibility support trees to serve as the optimal complete compatibility support tree, the direction of each vertex of the optimal complete compatibility support tree is the optimal solution, and the moving body cluster communication direction which ensures communication connectivity and has optimal communication performance is given
(5) And determining the expected posture of each moving body according to the optimal communication orientation solution of each moving body.
For the ith moving body (i is 1,2, …, n), according to the optimal communication direction in the reference coordinate system
And given task load orientation
And communication antenna pointing in a body coordinate system
And task load pointing
Using standard double-vector attitude determination method, the direction cosine matrix of coordinate transformation from the reference coordinate system to the body coordinate system of the ith moving body can be determined
The direction cosine matrix gives the expected attitude of the ith moving body, namely the attitude planning solution given by the method. The method steps of the invention are ended.
Claims (4)
1. A method for planning the attitude of a non-omnidirectional communication moving body cluster facing connectivity is characterized by comprising the following steps:
1) determining an allowable communication connection set according to the direction of each moving body required by the cluster cooperative task, and constructing an allowable connection diagram;
the allowable join graph G is an undirected graph, and is composed of vertices and edges, G ═ V, E, where V is a set of vertices, and V ═ V1,v2,…,vn}，viThe ith vertex which is G corresponds to the ith moving body in the moving body cluster; e is an edge set, E ═ E1,e2,…,emM is the number of edges in E, EkIs the kth side of G, ekDenoted by its two vertices as ek＝(vi,vj)，viAnd vjAre two different vertices in V; k is 1,2, …, m; all edges of the allowable connection graph G are determined using:
wherein i, j ≠ 1,2, …, n; body coordinate system b with alpha as i-th moving bodyiMedium communication antenna pointing
Pointing to task load
The included angle between them; beta is a communication coverage half-cone angle;
pointing and referencing a given constant unit vector in a coordinate system for the ith moving body task load;
the direction vector of the jth moving body relative to the ith moving body is taken as the reference; if the ith moving body and the jth moving body fall into the allowable communication range of each other, there is an allowable communication connection therebetween corresponding to the presence of an edge (v) in the allowable connection diagrami,vj)；
2) Carrying out compatibility analysis on the allowable connection diagram, and solving all 2-compatibility subgraphs of the allowable connection diagram; the method comprises the following steps:
A) for the ith vertex v in the allowable connection graph GiPerforming two-compatibility decomposition to obtain all 2-compatibility subsets of the neighbor set, i being 1,2, …, n;
B) for the ith vertex v in the allowable connection graph GiTake a 2-compatibility subset nbr of its neighbor setiFrom vertex i to nbriAll edges of each vertex in (a) constitute an edge set Ei，i＝1,2,…,n；
C) Construct directed graph D ═ V, E1∪E2∪…∪En) If any two nodes in D have bidirectional edges, the two nodes are combined into a non-directional edge, and if only one node has a unidirectional edge, the two nodes are deleted, so that an undirected graph B is obtained;
D) if B is connected, adding B into the 2-compatibility subgraph set of the allowable connection graph;
E) judging whether the traversal of different combinations of the 2-compatibility subsets of each vertex is finished, if so, returning to the 2-compatibility subgraph set of the allowable connection graph, and ending; otherwise, returning to the step B);
3) solving all the support trees of all the 2-compatibility subgraphs;
4) for each support tree in the 2-compatibility support tree set, optimizing the communication direction of the moving body corresponding to each vertex to obtain an optimal complete compatibility support tree;
5) and determining the expected posture of each moving body according to the optimal communication orientation solution of each moving body.
2. The method for planning the attitude of a cluster of connected non-omnidirectional communication moving objects according to claim 1, wherein the specific implementation process for performing two-compatibility decomposition in step a) comprises:
1) selecting two different neighbor vertices v from the neighbor set Nbrs of the input specified vertex vjAnd vk；
2) Judgment of vjAnd vkWhether v is compatible, if yes, go to step 7); otherwise, entering step 3);
3) deleting v from neighbor set NbrsjObtaining a subset Nbrs1, and deleting v from the neighbor set NbrskObtaining a subset Nbrs 2;
4) taking Nbrs1 as a new neighbor set of a vertex v, returning to the step 1), and obtaining a set nbr _ sets1 of all 2-compatibility subsets of Nbrs 1;
5) taking Nbrs2 as a new neighbor set of a vertex v, returning to the step 1), and obtaining a set nbr _ sets2 of all 2-compatibility subsets of Nbrs 2;
6) obtain a set of all 2-compatible subsets of the set of vertex v neighbors: nbr _ sets1 ═ nbr _ sets2, go to step 8);
7) judging whether the different combinations of the two vertexes selected from Nbrs are traversed completely, if so, enabling all neighbors of the vertex v to be compatible in pairs, returning to a neighbor set Nbrs of the vertex, and entering step 8); otherwise, returning to the step 1);
8) and (6) ending.
3. The method for planning postures of a cluster of non-omnidirectional communication moving objects facing connectivity according to claim 1, wherein in the step 4), the solving process of the optimal complete compatibility support tree is as follows: for each support tree in the 2-compatible set of support trees, a communication-oriented optimization is performed separately for all its vertices: if the vertex without feasible solution exists, the 2-compatibility support tree cannot be realized and is eliminated; when all the vertexes have feasible solutions, the 2-compatible support tree is a complete compatible support tree, and the optimal solution objective function values of all the vertexes are summed to be used as the optimality index of the support tree; and selecting the complete compatibility support tree with the minimum optimality index from all the found complete compatibility support trees as the optimal complete compatibility support tree.
4. The connectivity-oriented non-omni-directional communication moving body cluster attitude planning method according to claim 2, wherein the expected attitude of the ith moving body is determined by using the following formula:
moving body cluster communication direction for ensuring communication connectivity and optimizing communication performance;
pointing to a communication antenna in a body coordinate system;
and pointing the task load in the body coordinate system.
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| US9805138B2 (en) * | 2015-02-06 | 2017-10-31 | Xerox Corporation | Efficient calculation of all-pair path-based distance measures |
| CN107450535A (en) * | 2017-07-31 | 2017-12-08 | 中南大学 | A kind of intelligent carrying robot optimal path combination chart discusses controlling planning method |
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| CN105721202A (en) * | 2016-01-26 | 2016-06-29 | 天津大学 | Method for generating sparse undirected connected random graph |
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