CN110377051A - A kind of time-varying formation applied to unmanned aerial vehicle group is swarmed control method - Google Patents
A kind of time-varying formation applied to unmanned aerial vehicle group is swarmed control method Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The time-varying formation that the invention discloses a kind of applied to unmanned aerial vehicle group is swarmed control method, and exercise data and communication topological relation that unmanned plane is formed into columns are obtained；Establish the multiple agent kinematics model of unmanned plane；Construction time-varying formation is swarmed control algolithm；The virtual leader's model of average value-of unmanned aerial vehicle group is constructed to analyze formation stability, and realizes that the time-varying of unmanned aerial vehicle group is formed into columns on this basis.The control method has many advantages, such as to be easily achieved, and formation control effect is good, is able to achieve the formation of unmanned aerial vehicle group formation, scaling, the time-varying fleet operation of rotation and direction transformation.
Description
Technical field
The invention belongs to the Decentralized Control Techniques fields of multiple agent model more particularly to a kind of applied to unmanned aerial vehicle group
The control method of swarming that time-varying is formed into columns.
Background technique
Unmanned plane is derived from military field, develops by decades, comes into the fast-developing phase, many kinds of, application
Field is constantly expanded, and task type is extensive.Military aspect, unmanned plane can be scouted and be monitored in complicated landform, can
For executing monitoring, monitoring, hostile takedown and the anti-terrorism etc. of building interior situation under particular surroundings；Civilian aspect,
It is mainly used for the investigation of the disaster monitorings such as flood, forest fire alarm and earthquake and civil aviation shooting, amusement shooting etc..
With information-based, intelligentized intensification and accelerate, application environment it is complicated and changeable, single unmanned plane is unable to complete certain
A little tasks or single machine unmanned plane are expensive, replace single nothing with an extensive, inexpensive, multi-functional micro-unmanned group of planes
It is man-machine, by technologies such as air communication networking, autonomous control, gunz decisions, realize multitask coordinated.Unmanned aerial vehicle group formation refers to
When its cooperative motion, the geometry queue form for being kept fixed or changing as required between each individual completes the items such as obstacle avoidance, collision prevention
Part constraint.In practical projects, when unmanned plane executes task with formation mode, it can influence each other between unmanned plane, need to be moved through
It is formed, kept and changed formation in journey, information collection, exchange, calculating, control etc. operate between solution machine.It is main at present to form into columns
Control algolithm includes: 1) Artificial Potential Field Method, expresses corresponding formation by defining Artificial Potential Field, but formation is single, different formations need
Different Artificial Potential Fields are defined, it is excessively complicated；2) virtual architecture method, by Virtual Space structure representation formation, application range is easy
It is limited by virtual architecture；3) pilotage people-follower's method, big to the degree of dependence of pilotage people, pilotage people guides failure that can lead
Cause formation control failure；4) Behavior-based control method when group behavior does not define explicitly, mathematical analysis is carried out to it and then is carried out
It controls extremely difficult.
Summary of the invention
Goal of the invention: for the problem of the formation difficulty of control unmanned aerial vehicle group of the existing technology, the present invention provides one
The time-varying formation for kind being applied to unmanned aerial vehicle group is swarmed control method.
Technical solution: a kind of time-varying formation applied to unmanned aerial vehicle group is swarmed control method, comprising the following steps:
(1) obtain unmanned aerial vehicle group in each unmanned plane exercise data and communication topological relation, exercise data include position,
Velocity and acceleration vector；Communication topological relation is for establishing wireless data communication network between unmanned plane；
(2) the multiple agent kinematics model of unmanned aerial vehicle group is established according to the exercise data of each unmanned plane；
(3) using current time each unmanned plane exercise data and multiple agent kinematics model calculate subsequent time nobody
Machine acceleration operating quantity constructs the set { u to the Acceleration Control operating quantity of each unmanned plane1,u2,…,uN, subsequent time without
Man-machine acceleration operating quantity uiDivide the superposition of vector for first point of vector, second point of vector and third, first point of vector is the nothing
Man-machine gravitation or repulsion by other unmanned plane positional relationships, second point of vector are the speed driving force of the unmanned plane, third
Dividing vector is the directed force of virtual leader, wherein carrying out data transmitting by wireless data communication network between each unmanned plane；
(4) the time-varying fleet operation of unmanned aerial vehicle group is realized by changing gravitation or repulsion, driving force and directed force.
Further, in step (3), first point of vector ui,1Are as follows:
Wherein,I indicates the
I unmanned plane, j indicate j-th of unmanned plane；γσ> 0, dσ> 0, γσ、dσBe respectively between unmanned plane the upper limit of neighbor distance under
Limit, qiRepresent the position of unmanned plane i, NiIndicate that the i-th frame unmanned plane has the label geometry of other unmanned planes of syntople, nijFor
Position gradient vector, η and ε are given controling parameter；M (t) is time-variant weights matrix；
|M(t)z|σFor unmanned plane i, Weighted distance measurement between j,
A, b, c is constants and meet 0 < a≤b,
Potential function ρ () is for indicating unmanned plane i, and attraction/repulsion dynamics amplitude, is given by between j
Further, in step (3), second point of vector ui,2Are as follows:
Wherein, piIndicate unmanned plane i
Speed；aijIndicate the syntople of unmanned plane；ΔqijIndicate the position difference vector between unmanned plane.
Further, in step (3), the motion model for first constructing virtual leader calculates third again and divides vector, virtual to lead
The motion model for the person of leading describes are as follows:Wherein, qr、pr、urRespectively represent position, the speed of virtual leader
And Acceleration Control amount；
Third divides vector ui,3Are as follows:
ui,3=ΦTΦ(qi-qr)+Ψ(pi-pr)
Wherein, Φ, Ψ are constant matrices, and Φ is nonsingular and 0 < ΨT=Ψ.
Further, in step (4), the time-varying formation of unmanned aerial vehicle group includes that forming, scaling, rotation and the direction of queue become
It changes, mathematical definition relational expression:
Here, M (t) is time-variant weights matrix, and radius of neighbourhood γ and desired distance d are given value, and p* is desired speed
Vector.
Further, in step (4), the selection of time-variant weights matrix M (t) and the Acceleration Control of virtual leader are utilized
Measure urRealize the formation of unmanned aerial vehicle group.
Further, in step (4), choosing M (t) is piecewise constant matrix
By each section of constant matrices M of M (t)iThe sequence setting for being progressively increased or being reduced by norm size, controls nobody
Group of planes formation scale reduces or expands；
By each section of constant matrices M of M (t)iGradually change the direction initialization of feature vector on the period, controls unmanned plane
Group's formation rolls.
Further, in step (4), using time-variant weights matrix M (t) in ui,1And ui,2In sub-space transform effect,
By designing M (t), u is controlledi,1And ui,2Make unmanned aerial vehicle group form into columns to be formed be only limitted to 1 dimension or 2 dimension spaces motion state.
Further, in step (4), the Acceleration Control amount u of virtual leader is utilizedr, change speed in guidance information
Direction and size, the guidance information act on control operation ui,3Afterwards, unmanned aerial vehicle group formation direction transformation is controlled.
Further, in step (2), by the mean value calculation of the Position And Velocity of each unmanned plane, in conjunction with virtual leader
Person's model forms the virtual leader's model of average value-of state space equation；And it is virtual by average value-in step (4)
The characteristic value of leader's model judges formation stability.
The utility model has the advantages that the prior art that compares, the present invention provides a kind of time-varying formation applied to unmanned aerial vehicle group and swarms control
Method processed, by selection and the adjustment of time-variant weights matrix, it can be achieved that the formation control of unmanned aerial vehicle group, formation is generated, scaling,
The time-varying fleet operation of rotation and direction transformation is convenient, and it is single to overcome unmanned aerial vehicle group formation in the prior art, and formation feature is difficult
In the defect of adjustment, this method is easy to computer realization, is applicable in scene is extensive, and real-time is good and control effect determines and other effects.
Detailed description of the invention
Fig. 1 is the schematic block diagram of the time-varying formation control method process of unmanned aerial vehicle group of the invention；
Fig. 2 is unmanned aerial vehicle group formation schematic diagram in the present embodiment institute providing method；
Fig. 3 is unmanned aerial vehicle group formation schematic diagram that virtual leader is arranged in the present embodiment institute providing method；
Fig. 4 is unmanned aerial vehicle group formation zooming effect schematic diagram in the present embodiment institute providing method；
Fig. 5 for unmanned aerial vehicle group formation in the present embodiment institute providing method subspace flight effect schematic diagram；
Fig. 6 is unmanned aerial vehicle group formation rotates effe schematic diagram in the present embodiment institute providing method；
Fig. 7 is unmanned aerial vehicle group formation direction transformation effect diagram in the present embodiment institute providing method.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Fig. 1 is the schematic process flow diagram for the time-varying formation control method that the present invention is applied to unmanned aerial vehicle group.Consider by N=4
The unmanned aerial vehicle group of a unmanned plane (number is followed successively by UAV1, UAV2, UAV3, UAV4) composition, implementation process the following steps are included:
Step 1: obtaining the exercise data and communication topological relation that unmanned plane is formed into columns, form the mobile number of unmanned aerial vehicle group accordingly
According to net, the transmitting for completing unmanned plane position and speed data, the calculating of formation control amount and Distributed Implementation are assisted.Its exercise data packet
Include position, velocity and acceleration vector.
Specific calculating process is that the Turbo codes communicated between individual are figure G={ V, E, A }, wherein V={ 1,2 ..., N }
Indicate unmanned plane node collection in figure G,Indicate the collection of communication connection relationship between unmanned aerial vehicle group is individual
It closes, A is the adjacency matrix of mutual alignment relation between expressing unmanned plane.All there is connection to close for one group and certain common unmanned plane node i
The indexed set of all unmanned planes of system is Ni={ j ∈ V:aij≠ 0 }=j ∈ V:(i, j) ∈ E }.(i × j) is defined as each other
The connection relationship of γ-neighborhood unmanned plane i and j, the two can obtain the position and speed of other side.T moment unmanned aerial vehicle group network is opened up
Flutter figure G i.e.Then, certain moment obtains the exercise data that unmanned plane is formed into columns
It is exactly to calculate figure G this moment according to unmanned plane neighbor domain of node relationship with communication topological relation.
Step 2: the multiple agent kinematics model of unmanned aerial vehicle group is established according to the exercise data of each unmanned plane.Pass through each nothing
The mean value calculation of man-machine Position And Velocity, in conjunction with virtual leader's model, the average value-for forming state space equation is virtual
Leader's model.
The kinematics model of unmanned plane i is as follows:
Wherein, qi, pi, uiRespectively represent position, the velocity and acceleration vector of unmanned plane i.
Step 3: constructing formation control algorithm of swarming.The acceleration u of control algolithm construction unmanned plane ii, how intelligent use is
Body is swarmed distributed protocol.That is, uiIt is after being indicated by unmanned plane itself by multiple agent kinematics model, in conjunction with adjoining
The Position And Velocity information of other unmanned plane multiple agent nodes determine.Use the movement number of current time each unmanned plane
According to and multiple agent kinematics model calculate subsequent time unmanned plane acceleration operating quantity, construct acceleration control to each unmanned plane
Set { the u of operating quantity processed1,u2,…,uN, subsequent time unmanned plane acceleration operating quantity uiFor first point of vector, second point to
Amount and third divide the superposition of vector, and first point of vector is the unmanned plane by the gravitation or repulsion in other unmanned plane positional relationships,
Second point of vector is the speed driving force of the unmanned plane, and third divides vector to be the directed force of virtual leader.Wherein, each unmanned plane
Between pass through wireless communication networks realize data transmitting.Specifically includes the following steps:
Step 3-1: according to the location information of current time unmanned plane node, radius of neighbourhood γ and desired distance d, nothing is determined
The gravitation and repulsion function of between humans and machines position operation, i.e. first point of vector ui,1Are as follows:
Wherein,
I indicates that i-th of unmanned plane, j indicate j-th of unmanned plane；γσ> 0, dσ> 0, γσ、dσIt is phase between unmanned plane respectively
The upper limit and lower limit of neighborhood distance, qiThe position of unmanned plane i is represented, M (t) is time-variant weights matrix；
|M(t)z|σFor unmanned plane i, Weighted distance measurement between j,
A, b, c is constants and meet 0 < a≤b,
Potential function ρ () is for indicating unmanned plane i, and attraction/repulsion dynamics amplitude, is given by between j
The component realizes the effect for preventing unmanned plane from form into columns separation and mutual collision prevention.Specifically, as two unmanned plane i, j
Between position gap from meeting 0 < | M (t) Δ qij|σ< dσWhen, ui,1Can with position gap from increase and successively decrease, in | M (t) Δ
qij|σReach maximum value when=0, at this moment control action is that repulsive force is generated between unmanned plane；Position between two unmanned plane i, j
Gap is from meeting dσ< | M (t) Δ qij|σ< γσWhen, ui,1With position gap from increase and be incremented by, in | M (t) Δ qij|σ=dσ
When tend to minimum value, at this moment control action is that attraction is generated between unmanned plane；When alternate position spike exists | M (t) Δ qij|σ< γσWhen,
ui,1Lose corrective action.In short, ui,1Under effect, unmanned aerial vehicle group is finally reached equilibrium state, and the suffered resultant force of each machine is zero, between machine
Relative position no longer changes.
Step 3-2: obtaining the velocity information of each unmanned plane in current time unmanned aerial vehicle group, and construction facilitates each unmanned plane speed
The Tuning function to reach unanimity, i.e. second point of vector ui,2Are as follows:
Wherein,
piIndicate the speed of unmanned plane i.
It can be seen that ui,2Speed difference p between unmanned plane memberj-piIt is proportional.|pj-pi| bigger, ui,2It is bigger.Separately
Outside, when unmanned aerial vehicle group speed is reached an agreement, i.e. pj=piWhen, ui,2=0, speed adjustment amount disappears.In ui,1And ui,2Common work
Under, unmanned aerial vehicle group is finally reached the state of swarming, i.e., relative distance is fixed between machine | M (t) Δ qij|=d, each machine speed one
It causes, as shown in Figure 2.
Step 3-3: virtual leader is introduced in unmanned aerial vehicle group, remaining unmanned plane follows virtual neck while keeping and forming into columns
The motion information for the person of leading changes.Virtual leader's motion model can be described as:
Wherein, qr、pr、urRespectively represent position, speed and the Acceleration Control amount of virtual leader.
Each unmanned plane divides vector u to the Tuning function that follows of virtual leader, i.e. thirdi,3Are as follows:
ui,3=ΦTΦ(qi-qr)+Ψ(pi-pr) (6)
Wherein, Φ, Ψ are constant matrices, and Φ is nonsingular and 0 < ΨT=Ψ.
Virtual leader and non-physical unmanned plane should only as the mathematical model set interior in Navigation of Pilotless Aircraft program module
Model provides the motion guide information to each individual based on real-time unmanned plane during flying parameter.
Step 3-4: the acceleration operating quantity of unmanned plane i described in subsequent time
ui=ui,1+ui,2+ui,3 (7)
Each unmanned plane is by attraction/repulsion position adjustment force u in other membership location's relationshipsi,1, speed driving force ui,2
And the directed force u of virtual leaderi,3.Under its collective effect, member follows virtual leader to move, and shape in the process
At preset formation of swarming, as shown in Figure 3.
Step 3-5: it is steady that the Stabilization of the virtual leader's model of the average value-of unmanned aerial vehicle group guarantees that unmanned aerial vehicle group is formed into columns
It is fixed.Stabilization is by formula ui=ui,1+ui,2+ui,3Each unmanned plane Acceleration Control operating quantity u of definitioniIt realizes.
Step 4: selection and virtual leader's Acceleration Control amount u using time-variant weights matrix M (t)rRealize unmanned plane
The generation of the formation of group, scaling, rotation and direction transformation judge to form into columns by the characteristic value of the virtual leader's model of average value-
Stability.
The mathematical definition relational expression that the time-varying of unmanned aerial vehicle group is formed into columns:
Utilize the selection of time-variant weights matrix M (t) and the Acceleration Control amount u of virtual leaderrRealize unmanned aerial vehicle group
It forms into columns, including the following contents:
(a) using time-variant weights matrix M (t) in ui,1And ui,2In gain adjustment effect, realize unmanned aerial vehicle group form into columns
It is formed and is scaled.For example, choosing M (t) is piecewise constant matrix
By each section of constant matrices M of M (t)iBy the sequence setting that norm size is progressively increased or is reduced, accordingly
Control ui,1And ui,2Unmanned aerial vehicle group formation scale can be generated to reduce or expand effect, as shown in Figure 4.
(b) using time-variant weights matrix M (t) in ui,1And ui,2In sub-space transform effect, by design M (t), can change
The formation configuration for becoming unmanned aerial vehicle group, realizes the formation control of time-varying.For example, changing using M (t) rank of matrix, u is operated in controli,1
And ui,2Under make unmanned aerial vehicle group form into columns to be formed be only limitted to 1 dimension (linear) or 2 dimension spaces (planar) motion state, such as figure
Shown in 5.
(c) using time-variant weights matrix M (t) in ui,1And ui,2In to the change action of feature vector, realize unmanned aerial vehicle group
Formation rolls.For example, choosing M (t) is piecewise constant matrix
Wherein, MiGradually change the direction initialization of feature vector on the period, control unmanned aerial vehicle group formation rolls, such as schemes
Shown in 6.
(d) the Acceleration Control amount u of virtual leader is utilizedr, directional velocity and size in guidance information can be changed, this draws
It leads information function and operates u in controli,3Afterwards, the change of unmanned aerial vehicle group directional velocity and size to desired direction and size can be caused
Change, realizes direction transformation, as shown in Figure 7.
Claims (10)
- The control method 1. a kind of time-varying formation applied to unmanned aerial vehicle group is swarmed, which comprises the following steps:(1) exercise data and communication topological relation of each unmanned plane in unmanned aerial vehicle group are obtained, exercise data includes position, speed And vector acceleration；Communication topological relation is for establishing wireless data communication network between unmanned plane；(2) the multiple agent kinematics model of unmanned aerial vehicle group is established according to the exercise data of each unmanned plane；(3) subsequent time unmanned plane is calculated using the exercise data of current time each unmanned plane and multiple agent kinematics model to add Speed operating quantity constructs the set { u to the Acceleration Control operating quantity of each unmanned plane1,u2,…,uN, subsequent time unmanned plane Acceleration operating quantity uiDivide the superposition of vector for first point of vector, second point of vector and third, first point of vector is the unmanned plane By the gravitation or repulsion in other unmanned plane positional relationships, second point of vector is the speed driving force of the unmanned plane, and the three-component Amount is the directed force of virtual leader, wherein carrying out data transmitting by wireless data communication network between each unmanned plane；(4) the time-varying fleet operation of unmanned aerial vehicle group is realized by changing gravitation or repulsion, driving force and directed force.
- The control method 2. the time-varying formation according to claim 1 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (3) in, first point of vector ui,1Are as follows:Wherein,Z=qi-qjI indicates i-th A unmanned plane, j indicate j-th of unmanned plane；γσ> 0, dσ> 0, γσ、dσBe respectively between unmanned plane the upper limit of neighbor distance under Limit, qiRepresent the position of unmanned plane i, NiIndicate that the i-th frame unmanned plane has the label geometry of other unmanned planes of syntople, nijFor Position gradient vector, η and ε are given controling parameter；M (t) is time-variant weights matrix；|M(t)z|σFor unmanned plane i, Weighted distance measurement between j,A, b, c is constants and meet 0 < a≤b,Potential function ρ () is for indicating unmanned plane i, and attraction/repulsion dynamics amplitude, is given by between j
- The control method 3. the time-varying formation according to claim 2 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (3) in, second point of vector ui,2Are as follows:Wherein,piIndicate the speed of unmanned plane i；aijIndicate the syntople of unmanned plane；ΔqijIndicate the position difference vector between unmanned plane.
- The control method 4. the time-varying formation according to claim 2 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (3) in, the motion model for first constructing virtual leader calculates third again and divides vector,The motion model description of virtual leader are as follows:Wherein, qr、pr、urRespectively represent virtual leader Position, speed and Acceleration Control amount；Third divides vector ui,3Are as follows:ui,3=ΦTΦ(qi-qr)+Ψ(pi-pr)Wherein, Φ, Ψ are constant matrices, and Φ is nonsingular and 0 < ΨT=Ψ.
- The control method 5. the time-varying formation according to claim 4 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (4) in, forming, scaling, rotation and direction transformation of the time-varying formation including queue of unmanned aerial vehicle group, mathematical definition relational expression:Here, M (t) is time-variant weights matrix, and radius of neighbourhood γ and desired distance d are given value, and p* is desired velocity vector.
- The control method 6. the time-varying formation according to claim 4 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (4) in, the selection of time-variant weights matrix M (t) and the Acceleration Control amount u of virtual leader are utilizedrRealize the volume of unmanned aerial vehicle group Team.
- The control method 7. the time-varying formation according to claim 6 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (4) in, choosing M (t) is piecewise constant matrixBy each section of constant matrices M of M (t)iThe sequence setting for being progressively increased or being reduced by norm size, controls unmanned aerial vehicle group Formation scale reduces or expands；By each section of constant matrices M of M (t)iGradually change the direction initialization of feature vector on the period, controls unmanned aerial vehicle group team Shape rolls.
- The control method 8. the time-varying formation according to claim 6 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (4) in, using time-variant weights matrix M (t) in ui,1And ui,2In sub-space transform effect, pass through design M (t), control ui,1With ui,2Make unmanned aerial vehicle group form into columns to be formed be only limitted to 1 dimension or 2 dimension spaces motion state.
- The control method 9. the time-varying formation according to claim 6 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step (4) in, the Acceleration Control amount u of virtual leader is utilizedr, change directional velocity and size in guidance information, the guidance information Act on control operation ui,3Afterwards, unmanned aerial vehicle group formation direction transformation is controlled.
- The control method 10. the time-varying formation according to claim 1 applied to unmanned aerial vehicle group is swarmed, which is characterized in that step Suddenly in (2), state space is formed in conjunction with virtual leader's model by the mean value calculation of the Position And Velocity of each unmanned plane The virtual leader's model of the average value-of equation；And sentenced in step (4) by the characteristic value of the virtual leader's model of average value- Disconnected formation stability.
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