CN110456787A - Formation control method based on real time virtual path - Google Patents
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- CN110456787A CN110456787A CN201910659203.4A CN201910659203A CN110456787A CN 110456787 A CN110456787 A CN 110456787A CN 201910659203 A CN201910659203 A CN 201910659203A CN 110456787 A CN110456787 A CN 110456787A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of formation control methods of unmanned controlling equipment, specifically a kind of to carry out motion control to multiple mobile objects, thus the method for reaching cooperative motion or movement of forming into columns.Following technical scheme is taken the present invention is based on real time virtual path formation control method to realize: according to positioning of the formation equipment in different formations, the lateral deviation amount with the reference path of planning is calculated in real time and the lateral deviation amount is introduced into the tracing control to known paths, each formation member is controlled using speed collaboration function at a distance from target object according to formation member simultaneously and target object keeps relative distance, is kept rank during the tracking to known paths to reach.
Description
Technical field
The present invention relates to a kind of formation control methods of unmanned controlling equipment, and specifically one kind is to multiple movements
Object carries out motion control, thus the method for reaching cooperative motion or movement of forming into columns.
Background technique
Collaborative Control to multiple mobile objects is current robot control, unmanned plane, unmanned vehicle and unmanned boat control neck
The research hotspot in domain, one of specific manifestation mode is formation control.
Existing control method be Artificial Potential Field Method, formation pilotage people method or be based on central controlled method.Artificial Potential Field
It is larger to the dependence of pilotage people that method is difficult to carry out the formation in dynamic movement process holding control, formation pilotage people method；It follows
The control target of person dynamic change and has very high requirement to data communication quality at any time；It is then relied on based on centralized control method
In the control information for providing all formation members in an equipment and each formation member is sent to by communication link, is existed
System communication data bandwidth requirement height and real-time it is difficult to ensure that the problem of.
Three kinds of above-mentioned control methods cannot carry out Collaborative Control to multiple mobile objects well, and it is therefore necessary to set
It counts the new control method of one kind and meets actual use demand.
Summary of the invention
The control method formed into columns the present invention is based on real time virtual path the technical problem to be solved is that, for forming into columns at present
It is unable to maintain that the deficiencies of stablizing formation, and centralization formation operation high to communicating requirement in control technology, proposes one kind with known
Based on path, each formation member generates offset according to from the role in formation by sharing this path, and respectively in real time
It measures and brings the tracing control rate of known paths into carry out Heading control, while adjusting formation row by speed Collaborative Control
Cloth.
Following technical scheme is taken the present invention is based on real time virtual path formation control method to realize: according to formation equipment
Positioning in different formations calculates in real time with the lateral deviation amount of the reference path of planning and introduces the lateral deviation amount to known paths
Tracing control in, while according to formation member at a distance from target object using speed collaboration function control each formation member with
Target object keeps relative distance, keeps rank during the tracking to known paths to reach.
Based on real time virtual path formation control method are as follows: determine the quantity of equipment in forming into columns, and be numbered, select it
In an equipment be target object, and using it as benchmark planning path, and then using the path as reference path；Remaining number
Equipment be non-targeted object, remaining number equipment during formation according in different formations from formation role,
It calculates in real time and respectively generates respective virtual route relative to the lateral deviation amount of known paths, and this virtual route is used
Heading control is tracked；Non-targeted object in formation by communication link obtain in real time target object location information and
Velocity information, and the location information of itself is combined, speed control is carried out using speed Collaborative Control function.
Positioning of the equipment in flight pattern is determined to be numbered；The approach of number be form into columns before distributed it is specified only
One number, or be dynamically assigned to according to the offline of some equipment, addition state in host computer or formation each in formation
Equipment is with unique number.
The formation of formation can be edited as needed；Formation can be longitudinal linear type, lateral linear type, triangle
Any one in shape, quadrangle or polygon, and being capable of switching at runtime formation during actual motion as needed.
After determining reference path, equipment on remaining virtual route, target object of the real-time tracking as benchmark, and really
Determine tracking, corresponding lateral deviation can be added by the lateral deviation error in the control law of tracking reference path in tracking
Amount, so that the final control law P in its course are as follows:
(formula 1)
Wherein,For course deviation proportional control factor；For course deviation derivative control coefficient；
For lateral distance deviation ratio control coefrficient；For lateral distance deviation derivative control coefficient；
For advance course error,WithFor error change.
Target pair of the equipment real-time tracking as benchmark after the virtual route for determining benchmark, on remaining virtual route
As, and determine tracking；Using open source Pure Pursuit path following control algorithm, reference path is decomposed into a succession of
The path being made of multiple equidistant nodes is target point according to node a certain in the reference path currently tracked, calculates in real time
Obtain the tracking position of the virtual route of respective offsets amount, line trace control of going forward side by side, the meter of the tracking position of virtual route
Calculation method are as follows:
(formula 2)
Wherein,For former tracking position,θFor the global coordinate system direction of current path section,αIt can determine the volume
Team's equipment is in the left or right side of reference path, whenαIn left side when=1, whenαOn right side when=- 1；
Target object is determined in formation equipment, by specifying a certain formation equipment whole as target object, or by seeking
Average or weighted average, the position and speed value of target object of body formation member are led to as reference position and reference velocity
It crosses communication link and passes to each formation member；
The speed collaboration function of each formation member inputs position, velocity information and the location information of itself for target object,
Using linear segmented function or nonlinear piecewise function or the arctan function of included bound as control law, output is calculated
Current rate controlling amount, speed cooperate with functionFAre as follows:
(formula 3)
WhereinFor minimum control speed,Speed is controlled for maximum,Have for this formation equipment with target object
Imitate the lower limit of distance；For the upper limit of this formation equipment and target object effective distance,For this formation equipment and target
The distance of object is negative when being in a forward direction more than target object, and backwardness is positive；For dullness
Incremental function,For regulating constant parameter,For reference target speed；、、For adjustment parameter.
The beneficial effects of the present invention are: can be realized simultaneously the formation and holding of flight pattern, passage path is shared and base
In common control characteristic, the dependence to high quality communication during formation can be reduced, passes through each formation device distribution formula
Control makes up central controlled deficiency, meets engineering application conditions, and the present invention is suitable for robot, the unmanned plane, nothing of cluster
People's vehicle or unmanned boat, the unmanned plane for being particularly suitable for cluster carry out formation flight.
Detailed description of the invention
Fig. 1 is speed Collaborative Control schematic diagram (embodiment) of the invention.
The schematic diagram (embodiment) of virtual route of the Fig. 2 between equipment of respectively forming into columns in control method of the invention.
Fig. 3 is lateral deviation amount in control method of the inventionWith former tracking positionBetween signal
Figure.
Specific embodiment
The present invention is described in further detail below:
Referring to attached drawing 1-3, the control method formed into columns based on real time virtual path are as follows: determine the quantity of equipment in forming into columns, and carry out
Number, selecting one of equipment is target object, and on the basis of it, planning path, and then using the path as benchmark road
Diameter；Remaining number equipment be non-targeted object, remaining number equipment during formation according in different formations from
Role in formation calculates respectively generate respective virtual route relative to the lateral deviation amount of known paths in real time, and to this
Virtual route is tracked using Heading control；Non-targeted object in formation obtains target object by communication link in real time
Location information and velocity information, and combine itself location information, speed control carried out using speed Collaborative Control function.
Positioning of the equipment in flight pattern is determined to be numbered；The approach of number be form into columns before distributed it is specified only
One number, or be dynamically assigned to according to the offline of some equipment, addition state in host computer or formation each in formation
Equipment is with unique number.
The formation of formation can be edited as needed；Formation can be longitudinal linear type, lateral linear type, triangle
Any one in shape, quadrangle or polygon, and being capable of switching at runtime formation during actual motion as needed.
After determining reference path, target object of the equipment real-time tracking as benchmark on remaining virtual route, and really
Determine tracking, tracking can pass through the lateral deviation error in the control law of the virtual route of tracking benchmarkAddition pair
The lateral deviation amount answered, so that the final control law P in its course are as follows:
(formula 1)
Wherein,For course deviation proportional control factor；For course deviation derivative control coefficient；
For lateral distance deviation ratio control coefrficient；For lateral distance deviation derivative control coefficient；
For advance course error,WithFor error change.
After determining reference path, target object of the equipment real-time tracking as benchmark on remaining virtual route, and really
Determine tracking；Using open source Pure Pursuit path following control algorithm, extracted from reference path a succession of by multiple
The path node of equidistant node composition, is destination node according to certain point in the reference path currently tracked, calculates obtain in real time
Obtain the tracking position of the virtual route of respective offsets amount, line trace control of going forward side by side, the calculating of the tracking position of virtual route
Method are as follows:
(formula 2)
Wherein,For former tracking position,θFor the global coordinate system direction of current path section,αIt can determine the volume
Team's equipment is in the left or right side of reference path, whenαIn left side when=1, whenαOn right side when=- 1；
Target object is determined in formation equipment, by specifying a certain formation equipment whole as target object, or by seeking
Average or weighted average, the position and speed value of target object of body formation member are led to as reference position and reference velocity
It crosses communication link and passes to each formation member；
The speed collaboration function of each formation member inputs position, velocity information and the location information of itself for target object,
Using linear segmented function or nonlinear piecewise function or the arctan function of included bound as control law, output is calculated
Current rate controlling amount, speed cooperate with functionFAre as follows:
(formula 3)
WhereinFor minimum control speed,Speed is controlled for maximum,Have for this formation equipment with target object
Imitate the lower limit of distance；For the upper limit of this formation equipment and target object effective distance,For this formation equipment and target
The distance of object is negative when being in a forward direction more than target object, and backwardness is positive；For dullness
Incremental function,For regulating constant parameter,For reference target speed；、、For adjustment parameter.
Embodiment
Referring to attached drawing 1, attached drawing 2, attached drawing 3, the number of formation equipment is respectively A, B, C, D, E, F；Wherein number A is target
Object, the virtual route of the equipment of number A are benchmark path；The equipment of number B is in reference path, positioned at number A equipment
Rear；Successively in the left side of number A equipment, the equipment of number C and number F is successively set in number A the equipment of number B and number D
Standby right side；Virtual route corresponding to the numbering equipment of number B, C, D, F relative to the lateral deviation amount of reference path be respectively b1,
B2, b3, b4 call b1, b2, b3, b4 below.
It is of the invention based on real time virtual path formation control method, before formation control, pass through contexture by self, artificial rule
It draws or the mode of teaching obtains several and needs the known reference path 1 tracked of forming into columns, all formation members pass through communication link
It obtains known reference path 1 and is stored in locality.If current flight pattern is triangle, for formation member B, root
Function is calculated according to the formation position table established in advance or formation position, it is opposite during formation that formation member B can be obtained
In the lateral deviation amount 3 of known virtual route 1, formation member B is b1 relative to the lateral deviation amount 3 of known paths 1 as shown in Figure 2.In
After movement of forming into columns starts, formation member B calls the tracing control function of known paths 1 and this lateral deviation amount 3 is added in this function
For the superposition amount (see formula 1) of b1, to realize on the basis of tracking original route 1 to the left (on the basis of 1 direction 6 of reference path)
B1 is deviated, that is, thinks that formation member B tracks one during formation and is parallel to known paths 1 and lateral deviation amount 3 as the virtual of b1
Path 2.For different formation members since the role in each comfortable formation is different, the offset 3 for calculating acquisition in real time is also different,
Therefore during formation, each formation member tracks the virtual route of each self-generating, that is, realizes the course control in formation control
System.At the same time, each formation member need to choose reference of the target object 5 as collaboration of forming into columns, still by taking formation member B as an example, this
In the formation member A(that chooses can be any formation member) be target object 5, which passes through communication link during formation
Periodically obtain target object 5 velocity information and location information, in conjunction with itself positional information calculation obtain formation member B with
The distance between target object 57, when formation member 4 is in for B is ahead of target object 5 on path direction 6, which is
Negative value or zero, on the contrary it is positive.It calls speed collaboration function (referring to formula 3) to calculate and obtains the formation member 4 mesh current for B
It marks rate controlling amount and is used for speed control.Each formation member combines Heading control and speed control, Ji Ke in this way
Flight pattern is formed and kept during forming into columns.
Claims (7)
1. being based on real time virtual path formation control method, it is characterised in that: determine the quantity of equipment in forming into columns, and compiled
Number, selecting one of equipment is target object, and on the basis of it, planning path, and then on the basis of the path；Remaining
The equipment of number be non-targeted object, remaining number equipment during formation according in different formations from formation angle
Color calculates respectively generate respective virtual route relative to the lateral deviation amount of known paths in real time, and to this virtual route
It is tracked using Heading control；Non-targeted object in formation obtains the position letter of target object by communication link in real time
Breath and velocity information, and the location information of itself is combined, speed control is carried out using speed Collaborative Control function.
2. according to claim 1 be based on real time virtual path formation control method, it is characterised in that: determine that equipment is being compiled
Team formation in positioning and be numbered；The approach of number, which is that formation is preceding, has distributed specified unique number, or according to upper
Position machine or form into columns in the offline of some equipment, addition state come be dynamically assigned to form into columns in each equipment with unique number.
3. according to claim 1 be based on real time virtual path formation control method, it is characterised in that: the formation energy of formation
It is enough to be edited as needed；
Formation can be any one in longitudinal linear type, lateral linear type, triangle, quadrangle or polygon, and can
Switching at runtime formation during actual motion as needed.
4. according to claim 1 be based on real time virtual path formation control method, it is characterised in that: determine benchmark
Behind path, equipment on remaining virtual route, target object of the real-time tracking as benchmark, and determine tracking, track side
Method can pass through the lateral deviation error in the control law in the path of tracking benchmarkCorresponding lateral deviation amount is added, so that
The final control law P in its course are as follows:
Wherein,For course deviation proportional control factor；For course deviation derivative control coefficient；
For lateral distance deviation ratio control coefrficient；For lateral distance deviation derivative control coefficient；
For advance course error,WithFor error change.
5. according to claim 1 be based on real time virtual path formation control method, it is characterised in that: determine benchmark
Behind path, target object of the equipment real-time tracking as benchmark on remaining virtual route, and determine tracking；Using open source
Pure Pursuit path following control algorithm chooses a succession of path section being made of multiple equidistant nodes from path
Point is target point according to node a certain in the path currently tracked, calculates the mesh for obtaining the virtual route of respective offsets amount in real time
Mark trace point, line trace control of going forward side by side, the tracking position of virtual routeCalculation method are as follows:
Wherein,For former tracking position,θFor the global coordinate system direction of current path section,αIt can determine the volume
Team's equipment is in the left or right side of reference path, whenαIn left side when=1, whenαOn right side when=- 1.
6. according to claim 1 be based on real time virtual path formation control method, it is characterised in that: in formation equipment
Target object is determined, by specifying a certain formation equipment as target object, or by seeking being averaged for whole formation member
Or weighted average, the position and speed value of target object are passed to as reference position and reference velocity, and by communication link
Each formation member.
7. according to claim 1 be based on real time virtual path formation control method, it is characterised in that: each formation member
It is position, velocity information and the location information of itself of target object that speed, which cooperates with function input, using linear segmented function
Or nonlinear piecewise function or the arctan function of included bound calculate as control law and export current rate controlling amount,
Speed cooperates with functionFAre as follows:
WhereinFor minimum control speed,Speed is controlled for maximum,Have for this formation equipment with target object
Imitate the lower limit of distance；For the upper limit of this formation equipment and target object effective distance,For this formation equipment and target
The distance of object is negative when being in a forward direction more than target object, and backwardness is positive；For dullness
Incremental function,For regulating constant parameter,For reference target speed；、、For adjustment parameter.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111077902A (en) * | 2019-12-04 | 2020-04-28 | 淮阴工学院 | Multi-wing umbrella collaborative formation control method and control system based on virtual structure |
| CN111413982A (en) * | 2020-04-08 | 2020-07-14 | 江苏盛海智能科技有限公司 | Method and terminal for planning tracking routes of multiple vehicles |
| CN111947660A (en) * | 2020-07-15 | 2020-11-17 | 深圳拓邦股份有限公司 | Course correcting method and device |
| CN111947660B (en) * | 2020-07-15 | 2024-03-29 | 深圳拓邦股份有限公司 | Course correction method and device |
| CN112130566A (en) * | 2020-09-18 | 2020-12-25 | 上海大学 | Unmanned ship, unmanned plane hybrid formation control method and control system thereof based on fuzzy logic and sliding mode control strategy |
| CN115296726A (en) * | 2022-10-09 | 2022-11-04 | 凯睿星通信息科技(南京)股份有限公司 | Formation control method for communication security of small-team satellite handheld terminal |
| CN115296726B (en) * | 2022-10-09 | 2023-01-24 | 凯睿星通信息科技(南京)股份有限公司 | Formation control method for communication security of small-team satellite handheld terminal |
| CN115686004A (en) * | 2022-10-27 | 2023-02-03 | 南京长峰航天电子科技有限公司 | Path dynamic planning method based on unmanned ship distributed formation control |
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