CN108983818A - Unmanned plane order switching method based on virtual architecture - Google Patents
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Abstract
The present invention discloses a kind of unmanned plane order switching method based on virtual architecture, applied to unmanned plane formation and control field, a fictitious point mass is followed for each unmanned plane in existing virtual architecture method, since virtual architecture is limited, the problem of cannot achieve flexible evolution；The present invention initially sets up the unmanned plane formation based on virtual architecture, then the state of flight entirely formed into columns is controlled by controlling the state of flight of virtual architecture, unmanned plane surrounds the fictitious point mass movement belonging to itself, realizes the flexible transformation of the unmanned plane formation based on virtual architecture.
Description
Technical field
The invention belongs to unmanned plane formation and control field, in particular to a kind of volumes for considering extensive small drone
Team and evolution control technology.
Background technique
Unmanned plane has come into the fast-developing phase after decades of development originating from military field at present, and type is got over
Come more, application field is constantly expanded, and task type is more and more extensive.Military aspect, miniature drone can be in Field Operationals
Complicated landform in the case of scouted and monitored, it may also be used under particular surroundings scout interior of building situation, monitoring, prison
It listens, hostile takedown and anti-terrorism etc..At civilian aspect, it is mainly used for the disasters such as flood, forest fire alarm and earthquake
Monitoring and surveying and civil aviation shooting, amusement shooting etc..
As modern society's informationization, intelligentized degree are accelerated, the environment of unmanned plane application is fast changing in addition, individually
Unmanned plane is often unable to complete specific task, or can preferably complete the unmanned plane of task often price.To make up single rack
The deficiency of unmanned plane proposes to replace single unmanned plane with extensive, inexpensive, multi-functional unmanned plane cluster, passes through aerial group
The technologies such as net, autonomous control, gunz decision realize the cooperation of a unmanned plane group of planes.The formation control of unmanned plane refers to when more
A unmanned plane even thousands of unmanned plane Union Movements up to a hundred when, the geometry for being kept fixed or changing between each individual, together
When complete the task restriction of obstacle avoidance and internal collision prevention.When unmanned plane executes task together with formation mode, unmanned plane it
Between can exist influence each other, it is therefore desirable to the problems such as information communication, exchange, calculating between each unmanned plane are solved, to guarantee nothing
Generation, holding and the transformation of man-machine formation during execution task.The method of formation control at present mainly has: pilotage people-
Follower's method, the method for Behavior-based control, virtual architecture method, based on Artificial potential functions method and based on consistency algorithm
Method.Each method has respective advantage and disadvantage, for example, there are specific Formation feedback, unmanned planes for the method for Behavior-based control
It is reacted according to the location information of other unmanned planes, and distributed AC servo system may be implemented in system, to improve the real-time of system
Property and concurrency.Disadvantage is that group behavior does not define explicitly, and it is extremely difficult to carry out mathematical analysis to it.Virtual architecture method
The advantages of only to need to define the motor behavior of rigid body can control the movement of entire intelligent body group, and this method may be used also
To carry out Formation feedback.But its shortcoming is that the limit for the formation that its application range is largely formed by virtual architecture method
System, that is, cannot achieve flexible evolution.Once and there is pilotage people's failure in pilotage people-follower's method, it is entire form into columns by
The shortcomings that the larger of fluctuation or even failing.
Summary of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of unmanned plane order switching method based on virtual architecture,
Realize unmanned plane formation flexible transformation.
The technical solution adopted by the present invention are as follows: the unmanned plane order switching method based on virtual architecture, comprising:
S1, the unmanned plane formation based on virtual architecture is established；
S2, the unmanned plane formation established based on step S1 are instructed, each nothing according to the evolution that ground control base station is sent
It is man-machine to be changed formation using automatic follow the mode；
S3, the unmanned plane formation established based on step S1 recombinate instruction, each nothing according to the formation that ground control base station is sent
It is man-machine that formation is recombinated using pressure follow the mode.
Further, step S1 include it is following step by step:
S11, to use Delaunay Triangulation algorithm to generate with fictitious point mass be to generate first Voronoi diagram；Each
Generate the corresponding polygon Voronoi area of member；Point arrives the area polygon Voronoi in each polygon Voronoi area
The distance that member is generated in domain is less than to the first distance of other generations；Point on adjacent polygons Voronoi area common edge is to adjacent
Generation member in two polygon Voronoi areas is equidistant；
S12, unmanned plane receive take off instruction after, using follow the mode is forced, when following specified fictitious point mass to arrive at its institute
After belonging to polygon Voronoi area, unmanned plane is switched to automatic follow the mode；
S13, the repulsive force from adjacent unmanned plane being subject to according to unmanned plane and from the attraction of fictitious point mass, build
The dynamic balance model of vertical unmanned plane.
Further, unmanned plane dynamic balance model expression are as follows:
Wherein, ViFor the unmanned plane set in unmanned plane i communication range, Fr,ijThe adjacent unmanned plane j being subject to for unmanned plane i
Repulsion, Fa,iAttraction for unmanned plane i by fictitious point mass, FiFor the stress size of unmanned plane, work as FiNobody is indicated when being 0
Machine is in dynamic balance state.
Further, the virtual knot of unmanned plane formation is made of a series of inertial coordinates in the earth inertial coodinate system
Structure, the virtual architecture include several fictitious point mass, wherein each fictitious point mass is expressed as binary group < p, v >, p is that this is virtual
Position vector of the particle in earth coordinates, v are the movement velocity of the fictitious point mass.
Further, step S2 specifically includes the following steps:
The evolution instruction translation of transmission is the team indicated by fictitious point mass coordinate parameters by S21, ground control base station
Fractal transform control instruction；And pass through telecommunication channel to unmanned plane collection pocket transmission evolution control instruction；
S22, each unmanned plane are based on nearby principle, using automatic follow the mode, the nearest fictitious point mass flight of following distance,
And the dynamic balance model of foundation and adjacent unmanned plane and nearest fictitious point mass, reach dynamic balance state.
Further, step S3 specifically includes the following steps:
S31, ground control base station are recombinated to unmanned plane collection pocket transmission formation by telecommunication channel and are instructed；
Dynamic balance model between S32, unmanned plane foundation and adjacent unmanned plane and fictitious point mass, follows mould using pressure
Formula follows specified fictitious point mass to fly, and after arriving at specified fictitious point mass region, is switched to automatic follow the mode.
Further, the formation recombinates control instruction format are as follows: each fictitious point mass is followed by the fictitious point mass
Number and the fictitious point mass control unmanned plane number.
Beneficial effects of the present invention: the present invention initially sets up the unmanned plane formation based on virtual architecture, then passes through control
The state of flight of virtual architecture controls the state of flight entirely formed into columns, fictitious point mass movement of the unmanned plane belonging to itself,
Realize the flexible transformation of the unmanned plane formation based on virtual architecture；With each unmanned plane in existing virtual architecture method with
It is compared with a fictitious point mass, method of the invention does not need to control a large amount of fictitious point mass, not only can guarantee good formation
Control effect, and the traffic is small, control difficulty is low.
Detailed description of the invention
Fig. 1 is the solution of the present invention flow chart；
Fig. 2 is that the state of a control of unmanned plane shifts figure；
It is the first Voronoi diagram of generation that Fig. 3, which is with fictitious point mass collection,；
Fig. 4 is that unmanned plane establishes the schematic diagram for take off-following process；
Fig. 5 is that the unmanned plane formation based on virtual architecture establishes schematic diagram；
Fig. 6 is the unmanned plane evolution schematic diagram based on virtual architecture；
Fig. 7 is that the unmanned plane formation based on virtual architecture merges schematic diagram.
Specific embodiment
For convenient for those skilled in the art understand that technology contents of the invention, with reference to the accompanying drawing to the content of present invention into one
Step is illustrated.
The present invention proposes a kind of unmanned fleet based on virtual architecture for defect existing for existing formation control technology
Fractal transform method, the solution of the present invention flow chart by following three steps as shown in Figure 1, realized:
S1, the unmanned plane formation based on virtual architecture is established；
S11: establishing the virtual architecture of unmanned plane formation, and generating with fictitious point mass collection is the Voronoi diagram for generating member
The virtual architecture that unmanned plane formation is made of a series of inertial coordinates in the earth inertial coodinate system, wherein each void
Quasi- particle is expressed as binary group < p, v >, and wherein vector p is position vector of the fictitious point mass in earth coordinates, vector v
For the movement velocity of the fictitious point mass.In this way, multiple fictitious point mass just constitute the virtual architecture of formation, the state of fictitious point mass
The expectation state that as practical unmanned plane is formed into columns.
Wherein, earth coordinates are a kind of coordinate systems motionless relative to earth surface, can use WGS-84 coordinate system
Or other coordinate systems of equal value.In WGS-84 coordinate system, each coordinate is indicated by longitude, latitude and height.
Using Delaunay Triangulation algorithm to generate in the present invention with fictitious point mass is the Voronoi diagram for generating member, such as
Shown in Fig. 3；For the ease of briefly describing, two-dimensional schematic diagram is only depicted here.Black dot is fictitious point mass in figure, by
These fictitious point mass constitute the virtual architecture of unmanned plane formation, and it is to generate member that each polygon, which is to correspond to fictitious point mass,
Voronoi area, feature are as follows: have a generation member in each polygon Voronoi area；The area each polygon Voronoi
Point is to the generation member distance shorter than to the first distance of other generations in domain；Point on adjacent polygons Voronoi area common edge arrives
Generation member in two neighboring polygon Voronoi area is equidistant.
S12: unmanned plane take-off process is established
The Voronoi diagram that step S11 is generated divides entire sky for multiple regions, each region have one it is virtual
Particle, number are (i ∈ [1, N]) i.The volume for needing the fictitious point mass followed is sent to each unmanned plane by control centre
Number.Unmanned plane and adjacent unmanned plane persistently keep repulsion, to avoid mutual collision.Determine that unmanned plane rises by fictitious point mass coordinate
Dynamic balance mould is established with fictitious point mass and adjacent unmanned plane after unmanned plane enters the region of affiliated fictitious point mass in winged direction
Type.The specific method is as follows:
Shown in Fig. 4, schemes medium and small triangle and represent fictitious point mass.Assuming that the coordinate P1 of unmanned plane departure time fictitious point mass is
< p1, v >, wherein position vector is p1=[x1,y1,z1], v=[v1,v2,v3].After the t time, fictitious point mass reaches P2
Position < p2, v >, i.e. p2=[v1t,v2t,v3t].It is expected that unmanned plane also reaches near the position P2 at this time, unmanned plane during flying speed
Size be u, the heading of unmanned plane is acquired by following formula (1).
p1+ vt=ut (1)
S13: the dynamic balance model of unmanned plane is established
Formula (2) indicates the interaction force (repulsion) between unmanned plane i and adjacent unmanned plane j, wherein xijIndicate nobody
The distance between machine i and adjacent unmanned plane j,It is unit vector, indicates the unit vector for being directed toward unmanned plane j from unmanned plane i, α
For repulsion coefficient, α >=1, FRFor pre-set fixed repulsive force.Repulsion between unmanned plane ensure that and be between unmanned plane
Safe distance avoids colliding.
Unmanned plane is in addition to by the active force from adjacent unmanned plane, also by the attraction from fictitious point mass, so that
Unmanned function follows fictitious point mass to form formation.Interaction force between formula (3) unmanned plane i and its affiliated fictitious point mass
(attraction), wherein xiIndicate the distance between unmanned plane i and fictitious point mass,Unit vector indicates to be directed toward from unmanned plane i empty
The unit vector of quasi- particle.β is to attract force coefficient, β >=0, FAFor pre-set fixed attraction.
Formula (4) represents the stress condition of unmanned plane i, works as FiReach dynamic balance state, V in formula when being 0iFor unmanned plane i
Unmanned plane set in communication range, Fr,ijFor the repulsion of the unmanned plane i adjacent unmanned plane j being subject to, Fa,iFor unmanned plane i by
The attraction of fictitious point mass.When the unmanned plane of entire cluster all reaches dynamic balance state, entire unmanned plane formation also reaches flat
Weighing apparatus state, establishes unmanned plane formation as shown in Figure 5, and medium and small triangle represents fictitious point mass.
S2, the unmanned plane formation established based on step S1, according to the formation control instruction that ground control base station is sent, each nothing
It is man-machine to be changed formation using automatic follow the mode；
S21: ground control base station is instructed to unmanned plane collection pocket transmission evolution
Ground control base station is by the control instruction of formation, and such as (pointed shape, linear is round, triangle, herringbone etc.) turns over
It is translated into the formation indicated by fictitious point mass coordinate parameters, is referred to by telecommunication channel to unmanned plane collection pocket transmission evolution
It enables.
S22: unmanned plane is based on nearby principle and establishes formation using automatic follow the mode
After step S1 establishes unmanned plane formation, unmanned plane takes automatic follow the mode.When unmanned plane receives formation
After transformation directive and the formation indicated by fictitious point mass coordinate parameters, takes and follow principle nearby, follow nearest virtual matter
Point flight, the dynamic balance model between each frame unmanned plane and adjacent unmanned plane and nearest fictitious point mass, i.e. formula (4),
Dynamic balance state is progressively reached, the unmanned plane of Fig. 6 such as is formed and forms into columns, and speed and motion state by controlling fictitious point mass,
Control the state of flight that entire unmanned plane is formed into columns.
S3, the unmanned plane formation established based on step S1 recombinate instruction, each nothing according to the formation that ground control base station is sent
It is man-machine that formation is recombinated using pressure follow the mode.
S31: the ground control base station virtual architecture information new to unmanned plane collection pocket transmission
Formation is recombinated and is instructed by ground control base station, the formation indicated by fictitious point mass coordinate parameters is translated as, by remote
Journey communication channel is recombinated to unmanned plane collection pocket transmission formation and is instructed.Control information format are as follows: each fictitious point mass is followed by this
The number of fictitious point mass and the unmanned plane number of fictitious point mass control.Unmanned plane pattern switching is to force follow the mode, with
Execute recombination instruction.
S32: unmanned plane is established using pressure follow the mode according to the virtual architecture in step S31 and is formed into columns
After unmanned plane receives control information, the fictitious point mass oneself followed is found by searching for matching.Then, with phase
Adjacent unmanned plane and fictitious point mass establish dynamic balance model, the i.e. state of formula (4) representative, and fictitious point mass is followed to fly, when
After arriving at specified fictitious point mass region, then it is switched to automatic follow the mode, is achieved in the division of unmanned plane formation or merges behaviour
Make.Before Fig. 7 indicates recombination, unmanned plane formation is controlled by multiple fictitious point mass, after merging, only one fictitious point mass.
In conclusion the state of a control of unmanned plane is in free follow the mode and forces to switch between two kinds of follow the mode, such as
Shown in Fig. 2.Specifically: unmanned plane, which takes off, establishes unmanned plane formation to force follow the mode, and unmanned plane is automatic after formation foundation
Be converted to free follow the mode.Later, unmanned plane formation is flown in the sky, only exists evolution and formation recombinates two kinds of feelings
Condition, evolution use free follow the mode, and formation recombination then takes pressure follow the mode, unmanned plane is avoided to recombinate in formation
Unmanned plane collision occurs in journey.After unmanned plane cluster completes formation flight or task, landed using pressure follow the mode.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.For ability
For the technical staff in domain, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should be included within scope of the presently claimed invention.
Claims (7)
1. the unmanned plane order switching method based on virtual architecture characterized by comprising
S1, the unmanned plane formation based on virtual architecture is established；
S2, the unmanned plane formation established based on step S1 are instructed, each unmanned plane according to the evolution that ground control base station is sent
It is changed formation using automatic follow the mode；
S3, the unmanned plane formation established based on step S1 recombinate instruction, each unmanned plane according to the formation that ground control base station is sent
Formation is recombinated using pressure follow the mode.
2. the unmanned plane order switching method according to claim 1 based on virtual architecture, which is characterized in that step S1 packet
Include it is following step by step:
S11, to use Delaunay Triangulation algorithm to generate with fictitious point mass be to generate first Voronoi diagram；Each is generated
The corresponding polygon Voronoi area of member；In each polygon Voronoi area in point to the polygon Voronoi area
The distance for generating member is less than to the first distance of other generations；Point on adjacent polygons Voronoi area common edge is to two neighboring
Generation member in polygon Voronoi area is equidistant；
S12, unmanned plane receive take off instruction after, it is more belonging to it when following specified fictitious point mass to arrive at using forcing follow the mode
After the shape Voronoi area of side, unmanned plane is switched to automatic follow the mode；
S13, the repulsive force from adjacent unmanned plane being subject to according to unmanned plane and from the attraction of fictitious point mass, establish nothing
Man-machine dynamic balance model.
3. the unmanned plane order switching method according to claim 2 based on virtual architecture, which is characterized in that unmanned machine power
Balance model expression formula are as follows:
Wherein, ViFor the unmanned plane set in unmanned plane i communication range, Fr,ijFor the reprimand of the unmanned plane i adjacent unmanned plane j being subject to
Power, Fa,iAttraction for unmanned plane i by fictitious point mass, FiFor the stress size of unmanned plane, work as FiIt is indicated at unmanned plane when being 0
In dynamic balance state.
4. the unmanned plane order switching method according to claim 2 based on virtual architecture, which is characterized in that by being greatly used to
Property coordinate system in a series of inertial coordinates composition unmanned plane form into columns virtual architecture, the virtual architecture includes several virtual matter
Point, wherein each fictitious point mass is expressed as binary group < p, v >, p is position vector of the fictitious point mass in earth coordinates,
V is the movement velocity of the fictitious point mass.
5. the unmanned plane order switching method according to claim 1 based on virtual architecture, which is characterized in that step S2 tool
Body the following steps are included:
S21, ground control base station are instructed by telecommunication channel to unmanned plane collection pocket transmission evolution and by fictitious point mass
The formation that coordinate parameters indicate；
It is the evolution control instruction indicated by fictitious point mass coordinate parameters by the evolution instruction translation of transmission；And pass through
Telecommunication channel is to unmanned plane collection pocket transmission evolution control instruction；
S22, each unmanned plane are based on nearby principle, using automatic follow the mode, the nearest fictitious point mass flight of following distance, and build
The vertical dynamic balance model with adjacent unmanned plane and nearest fictitious point mass, reaches dynamic balance state.
6. the unmanned plane order switching method according to claim 1 based on virtual architecture, which is characterized in that step S3 tool
Body the following steps are included:
S31, ground control base station are recombinated to unmanned plane collection pocket transmission formation by telecommunication channel and are instructed；
S32, unmanned plane establish and adjacent unmanned plane and fictitious point mass between dynamic balance model, using force follow the mode, with
It flies with specified fictitious point mass, after arriving at specified fictitious point mass region, is switched to automatic follow the mode.
7. the unmanned plane order switching method according to claim 6 based on virtual architecture, which is characterized in that the formation
Recombinate control instruction format are as follows: the nothing that each fictitious point mass is controlled followed by the number of the fictitious point mass and the fictitious point mass
Man-machine number.
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| CN113110593A (en) * | 2021-05-06 | 2021-07-13 | 西北工业大学 | Flight formation cooperative self-adaptive control method based on virtual structure and estimation information transmission |
| CN114730188A (en) * | 2019-11-14 | 2022-07-08 | 北美日产公司 | Safety-assured remote driving of autonomous vehicles |
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