CN109871032A - A kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control - Google Patents
A kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control Download PDFInfo
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Abstract
The present invention relates to a kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control comprising the steps of: step 1: initialization task requires and associated control parameters etc.；Step 2: preliminary trajectory planning is carried out to navigator's unmanned plane；Step 3: by sensor real-time detection flight range ambient conditions, judging and choose suitable flight formation, calculates (update) and virtually forms into columns pilot point；Step 4: according to virtual formation pilot point calculated, reference value is calculated using the pilot point as cost, cost function is calculated, flight control is carried out using the particle group optimizing strategy based on distributed model predictive control；Step 5: repeating Step 2: step 3 and step 4, control multiple no-manned plane, which is formed into columns, cooperates with flight, until reaching target position.The present invention efficiently solves the problems, such as the formation Collaborative Control under complex environment, so that multiple no-manned plane system in flight course, has stable formation holding capacity, and efficient evolution ability.
Description
Technical field
The present invention relates to a kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control belongs to and considers path
The trajectory planning control strategy field of multiple aircraft formations of information.
Background technique
As unmanned aerial vehicle (UAV) control technology reaches its maturity, unmanned plane is widely used to battlefield surroundings scouting, ground target is beaten
It hits, power-line patrolling, the military and civilians field such as take photo by plane.At the same time, multiple no-manned plane formation Collaborative Control also rapidly becomes in recent years
The Disciplinary Frontiers come are formed into columns using multiple no-manned plane and cooperate with flight that can make full use of limited single machine resource, are executed jointly big
The complex tasks such as range target search, Natural Disaster acquisition, agrisilviculture, concerted attack.Therefore, it forms into columns to multiple no-manned plane
Collaborative Control expansion further investigation is of great significance.
Compared with single unmanned plane during flying, multiple no-manned plane formation Collaborative Control will not only solve the trajectory planning of formation unmanned plane
Problem, it is often more important that formation unmanned plane how to be allowed to complete the formation, reconstruct and holding of formation in flight course.In face of multiple
The suddenly change of heterocycle border and task can be quickly generated the optimal formation of performance indexes, be more the short time as far as possible
The evaluation index of unmanned plane formation cooperative control method quality.Appropriate evolution scheme can be improved fuel service efficiency,
Flexibly reply emergency case, realizes the safely and fast flight of formation.However at present in formation Collaborative Control, especially protected in formation
Aspect is held and converts, not method more outstanding, conventional method inefficiency in evolution, in complex environment very
Difficulty is applied.
Summary of the invention
In view of this, the present invention provides a kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control, lead to
It crosses and constructs virtual formation pilot point, then utilize the thought of Model Predictive Control, in conjunction with distributed control method, assisted forming into columns
It is converted into control and rolls on-line optimization problem, be directed to Obstacles Constraints later, evaluation function is defined by cost function and is answered
Optimization problem is solved with fast particles colony optimization algorithm, the collaboration control so that the multiple no-manned plane under realizing complex environment is formed into columns
System.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control, includes the following steps:
Step 1: according to multiple no-manned plane formation control related constraint, initialization task requirement and associated control parameters etc.；
Step 2: according to environment, task and unmanned plane related constraint, preliminary trajectory planning is carried out to navigator's unmanned plane；
Step 3: by sensor real-time detection flight range ambient conditions, judging and choose suitable flight formation, calculates
(update) virtually forms into columns pilot point；
Step 4: according to virtual formation pilot point calculated, reference value is calculated using the pilot point as cost, according to
With unmanned plane position, the corresponding relationship of unmanned plane Yu virtual formation pilot point is determined, predict using based on distributed model
The particle group optimizing strategy of control carries out flight control；
Step 5: repeating Step 2: step 3 and step 4, control multiple no-manned plane, which is formed into columns, cooperates with flight, until reaching mesh
Cursor position.
Further, the step one specifically: xoy two-dimensional plane coordinate system is established, for each frame unmanned plane: individually
Basic parameter --- initial position P is setintl, maximum speed vmax, peak acceleration amax, sensor detection radius rdet, it is minimum
Safe distance RminDeng initialization task requirement --- target position Pend, meanwhile, initialize rolling time horizon step number Hp, particle most
Big the number of iterations I, population quantity N, sampling time Δ t；To the unmanned aerial vehicle group containing M frame unmanned plane: setting communication radius rc
And unmanned plane number sorting { aj| j=1,2 ..., M }, wherein a1For root node navigator's unmanned plane.
Further, trajectory planning described in step 2 specifically: Di Jiesitela is used to root node navigator's unmanned plane
(Dijkstra) algorithmic preliminaries calculate global cost, and Model Predictive Control is recycled to convert rolling time horizon for trajectory planning problem
Optimization problem, the optimization problem is solved by fast particles colony optimization algorithm, obtains root node navigator's unmanned plane
Subsequent time position (xlo, ylo) and subsequent period location variation (Δ xl, Δ yl), wherein (xlo, ylo) it is also lower a period of time
Carve the virtual point coordinate of root node navigator unmanned plane.
Further, the step three the following steps are included:
It (1) the use of detection radius around sensor real-time detection navigator's unmanned plane is rdetAmbient conditions in region, according to
The barrier situation detected calculates channel width d, chooses suitable flight pattern maximum width radius rf, meet Rmin≤rf
< d/2；
(2) root node level is set as the 1st layer, is successively traversed since root node, by unmanned aerial vehicle group according to the complete y-bend of progress
Tree, which is expanded, forms into columns, and is navigator's unmanned plane at node, 1. the unmanned plane in the node set membership meets formula, and calculates virtual compile
Team relevant parameter xf、yf、xm、ym；
Wherein, (xl, yl) be node navigator unmanned plane subsequent time position；(Δxl, Δ yl) it is node navigator unmanned plane
The location variation of subsequent period；(xm, ym) be line midpoint coordinate value；(xf, yf) it is virtual formation pilot point line midpoint
To the vector value of a certain virtual pilot point；ldIt is pilot point line at a distance from navigator's unmanned plane,
cldIt is excessive to avoid navigator's unmanned plane from angle of turn occur for amount of decrease weight, significantly whipping situation is caused, by many experiments knot
Fruit is manually set, and usually takes cld=1；θ is the angle of navigator's unmanned plane directional velocity and x-axis；As R >=2RminWhen,
Otherwise R=0, wherein n is the number of plies of the unmanned plane that follows in binary tree.
(3) coordinate of the virtual formation pilot point of unmanned plane of node navigator's unmanned plane guidance is solved；
Wherein, (xi, yi) be i-th of virtual pilot point coordinate, i=1,2.
(4) using (n-1)th layer of unmanned plane as node navigator's unmanned plane, i.e., (xi, yi) it is used as (xl, yl), successively calculate
N-th layer follows the virtual formation pilot point coordinate of unmanned plane.Wherein, as n > 2, (n-1)th layer of first node navigator's unmanned plane
There is left and right child to follow unmanned plane, i.e., using formula 2. when i=1 and i=2 situation, remaining node navigator's unmanned plane only has
Right child follows unmanned plane, i.e., using formula 2. in only calculate the situation of i=2.
(5) step (2), (3), (4) are repeated, continue to calculate next layer of virtual formation pilot point, until M frame unmanned plane is all
Flight is in formation.If n-th layer unmanned plane spacing is less than minimum safe distance, i.e. R <=Rmin, then do not continue to calculate
Virtual formation pilot point, the practical frame number of unmanned plane is more than virtual formation pilot point at this time, and the unmanned plane having more need to only fly
In, n-th layer keeps ldDistance follows (n-1)th layer, (n-1)th layer of holding ldDistance follows the n-th -2 layers, and successively recursion is gone down.
The beneficial effects of the present invention are: the present invention provides a kind of, and the multiple no-manned plane formation based on Model Predictive Control is assisted
Same control method, using particle swarm optimization algorithm, completes multiple no-manned plane formation collaboration control by constructing virtual formation pilot point
Multiple no-manned plane Collaborative Control is converted to each unmanned plane under corresponding constraint condition in conjunction with distributed strategy by the solution of process processed
Autonomous control, can under complex environment, realize UAV Formation Flight during formation keep stability and formation it
Between the high efficiency converted, and virtual formation pilot point and particle swarm optimization algorithm are used in combination so that its solution procedure it is simple,
Computation complexity is low, precision is high.
Detailed description of the invention
In order to make the purpose of the present invention, technical solution, the present invention provides the following figures to illustrate:
Fig. 1 is a kind of multiple no-manned plane formation cooperative control method flow chart based on Model Predictive Control；
Fig. 2 is that virtual form into columns guides schematic diagram；
Fig. 3 is the trajectory planning result of the embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing 1, a preferred embodiment of the present invention will be described in detail.
Embodiment: a kind of three frame unmanned plane formation cooperative control method flow charts based on Model Predictive Control, including such as
Lower step:
Step 1: establishing xoy two-dimensional plane coordinate system, it is assumed that each frame unmanned plane performance parameter is identical, particle swarm algorithm
Parameter is identical, related design parameter reference table 1.Navigator's unmanned plane a1Initial position is (25,0), and target position is (- 28, -6)；
Follow a of unmanned plane2And a3Initial position is respectively (26,0), (27,0).
Step 2: using Di Jiesitela to navigator's unmanned plane according to environment, task and unmanned plane related constraint
(Dijkstra) algorithmic preliminaries calculate global cost, and Model Predictive Control is recycled to convert rolling time horizon for trajectory planning problem
Optimization problem, the optimization problem is solved by fast particles colony optimization algorithm, obtains lower a period of time of navigator's unmanned plane
Carve position (xlo, ylo) and subsequent period location variation (Δ xl, Δ yl), wherein (xlo, ylo) it is also that subsequent time navigates
The virtual point coordinate of unmanned plane.
Step 3: judging and choosing suitable flight formation by sensor real-time detection flight range ambient conditions, calculate
(update) virtually forms into columns pilot point, specifically:
It (1) the use of detection radius around sensor real-time detection navigator's unmanned plane is rdetAmbient conditions in region, according to
The barrier situation detected calculates channel width d, chooses suitable flight pattern maximum width radius rf, meet Rmin≤rf
< d/2；
(2) virtual formation relevant parameter x is calculatedf、yf、xm、ym；
(3) it solves and follows unmanned plane a2And a3Virtual pilot point coordinate (x1, y1) and (x2, y2)。
Step 4: calculating reference value design using the pilot point as cost according to virtual formation pilot point calculated and commenting
Valence function, i.e., corresponding virtual formation pilot point coordinate, with each frame unmanned plane prediction track endpoint in the position of rolling time horizon
(xi(k+Hp+ 1), yi(k+Hp+ 1)), i=1, as cost function herein at a distance from 2,3, with corresponding target position.Then it ties
Environmental constraints and communication context constraint are closed, flight control is carried out using the particle group optimizing strategy based on distributed model predictive control
System；
Step 5: repeating Step 2: step 3 and step 4, control multiple no-manned plane, which is formed into columns, cooperates with flight, until reaching mesh
The region (radius is in the circle of ε) of cursor position or very close target position, task terminates.
The related setting parameter of 1 embodiment of the present invention of table
Specific embodiment, which can be seen that the present invention, through the invention can be good at realizing that multiple no-manned plane is compiled under complex environment
Team's Collaborative Control flight.It can be seen that while guaranteeing avoiding obstacles according to trajectory planning result as shown in Figure 3, it is more
UAV system is able to maintain stable flight pattern flight, and realizes efficient flight pattern transformation.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (4)
1. a kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control, which is characterized in that this method include with
Lower step:
Step 1: according to multiple no-manned plane formation control related constraint, initialization task requirement and associated control parameters etc.；
Step 2: according to environment, task and unmanned plane related constraint, preliminary trajectory planning is carried out to navigator's unmanned plane；
Step 3: by sensor real-time detection flight range ambient conditions, judge and choose suitable flight formation, calculate (more
It newly) virtually forms into columns pilot point；
Step 4: according to virtual formation pilot point calculated, reference value is calculated using the pilot point as cost, according to following nothing
Man-machine position determines the corresponding relationship of unmanned plane Yu virtual formation pilot point, using based on distributed model predictive control
Particle group optimizing strategy carry out flight control；
Step 5: repeating Step 2: step 3 and step 4, control multiple no-manned plane, which is formed into columns, cooperates with flight, until reaching target position
It sets.
2. a kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control according to claim 1, special
Sign is, the step one specifically: xoy two-dimensional plane coordinate system is established, for each frame unmanned plane: being separately provided basic
Parameter --- initial positionMaximum speed vmax, peak acceleration amax, sensor detection radius rdet, minimum safe distance
RminDeng initialization task requirement --- target position Pend, meanwhile, initialize rolling time horizon step number Hp, particle greatest iteration time
Number I, population quantity N, sampling time Δ t；To the unmanned aerial vehicle group containing M frame unmanned plane: setting communication radius rcAnd nobody
Machine number sorting { aj| j=1,2 ..., M }, wherein a1For root node navigator's unmanned plane.
3. a kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control according to claim 1, special
Sign is, trajectory planning described in the step 2 specifically: uses Di Jiesitela to root node navigator's unmanned plane
(Dijkstra) algorithmic preliminaries calculate global cost, and Model Predictive Control is recycled to convert rolling time horizon for trajectory planning problem
Optimization problem, the optimization problem is solved by fast particles colony optimization algorithm, obtains root node navigator's unmanned plane
Subsequent time position (xlo, ylo) and subsequent period location variation (Δ xl, Δ yl), wherein (xlo, ylo) it is also lower a period of time
Carve the virtual point coordinate of root node navigator unmanned plane.
4. a kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control according to claim 1, special
Sign is, the step three the following steps are included:
It (1) the use of detection radius around sensor real-time detection navigator's unmanned plane is rdetAmbient conditions in region, according to detection
The barrier situation arrived calculates channel width d, chooses suitable flight pattern maximum width radius rf, meet Rmin≤rf< d/
2；
(2) root node level is set as the 1st layer, is successively traversed since root node, and unmanned aerial vehicle group is opened up according to complete binary tree is carried out
Exhibition is formed into columns, and is navigator's unmanned plane at node, 1. the unmanned plane in the node set membership meets formula, and calculate virtual formation phase
Close parameter xf、yf、xm、ym；
Wherein, (xl, yl) be node navigator unmanned plane subsequent time position；(Δxl, Δ yl) it is one under node navigator unmanned plane
The location variation of period；(xm, ym) be line midpoint coordinate value；(xf, yf) be virtual formation pilot point line midpoint to certain
The vector value of one virtual pilot point；ldIt is pilot point line at a distance from navigator's unmanned plane,cldFor
Amount of decrease weight, it is excessive to avoid navigator's unmanned plane from angle of turn occur, significantly whipping situation is caused, by many experiments result people
For setting, c is usually takenld=1；θ is the angle of navigator's unmanned plane directional velocity and x-axis；As R >=2RminWhen,Otherwise
R=0, wherein n is the number of plies of the unmanned plane that follows in binary tree.
(3) coordinate of the virtual formation pilot point of unmanned plane of node navigator's unmanned plane guidance is solved；
Wherein, (xi, yi) be i-th of virtual pilot point coordinate, i=1,2.
(4) using (n-1)th layer of unmanned plane as node navigator's unmanned plane, i.e., (xi, yi) it is used as (xl, yl), successively calculate n-th layer
Follow the virtual formation pilot point coordinate of unmanned plane.Wherein, as n > 2, (n-1)th layer of first node navigator's unmanned plane has a left side
Right child follows unmanned plane, i.e., using formula 2. when i=1 and i=2 situation, remaining node navigator's unmanned plane only has right child
Son follows unmanned plane, i.e., using formula 2. in only calculate the situation of i=2.
(5) step (2), (3), (4) are repeated, continue to calculate next layer of virtual formation pilot point, until M frame unmanned plane all flies
In formation.If n-th layer unmanned plane spacing is less than minimum safe distance, i.e.,It does not continue to then calculate virtual volume
Team pilot point, at this time the practical frame number of unmanned plane be more than virtual formation pilot point, the unmanned plane having more only need in flying, n-th
Layer keeps ldDistance follows (n-1)th layer, (n-1)th layer of holding ldDistance follows the n-th -2 layers, and successively recursion is gone down.
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