CN110502032A - A kind of unmanned plane cluster formation flight method of Behavior-based control control - Google Patents
A kind of unmanned plane cluster formation flight method of Behavior-based control control Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention proposes a kind of unmanned plane cluster formation flight methods of Behavior-based control control, belong to field of intelligent control.The flying method the following steps are included: S1, in unmanned plane cluster, according to the motion model of unmanned plane, unmanned plane is numbered；S2, formation control is carried out to unmanned plane cluster using formation control device；The formation control device includes information Perception module, information Fusion Module, behaviour decision making module and flight control modules；The formation control strategy of S3, Behavior-based control select the formation flight behavior of unmanned plane cluster；The formation flight behavior of the unmanned plane cluster, which is specifically included that task object motor behavior, formation, keeps behavior, collision to avoid behavior and the holding behavior that peels off.Multiple no-manned plane system can be made to cope with abnormality during completion task using the present invention, avoiding obstacles, reach task object point, the real-time formation control of multiple no-manned plane be realized, to complete the formation flight task for needing multiple no-manned plane to cooperate with.
Description
Technical field
The present invention designs field of intelligent control, specifically designs a kind of unmanned plane cluster formation flight side of Behavior-based control control
Method.
Technical background
With the continuous development that the related fieldss such as sensor technology, mechanics of communication, control theory, artificial intelligence are applied, nothing
Man-machine application level is also quickly improving, and is embodied as the becoming more complicated of task for needing to complete, locating environment
Become more unpredictable.Complex task under circumstances not known, the mode that people are considered as multiple person cooperational make up individually
The scarce capacity problem of unmanned plane.Multiple no-manned plane system can be appointed by the completion complexity concurrent over time and space that cooperates
Business, it is relatively low to the design difficulty of unmanned plane, it is only necessary to which that the specific unmanned plane of design function, can be executed by not needing to possess by all
The advanced unmanned plane of business, each unmanned plane is functionally complementary, has many advantages, such as that economical, reliable, response is fast.
Chinese invention patent (CN105589470A) discloses a kind of distributed formation control method of multiple no-manned plane, passes through
The chain structure between multiple no-manned plane is constructed, unmanned plane calculates the desired speed of unmanned plane by distributed AC servo system algorithm, carries out
Formation of the speed control to make unmanned plane keep given.Chinese invention patent (CN108508911A) discloses unmanned plane formation
Flight control method and unmanned plane mainly can reasonably adjust the flying speed of unmanned plane according to the four dimensions information of destination,
Guarantee in the flight to target destination of unmanned plane right place.
The main problem that unmanned plane cluster formation control faces at present is: how to execute formation flight in unmanned plane cluster and appoints
The efficiency that formation is kept is improved during business.In order to formed formation need exchange state information between multiple no-manned plane (speed and
Location information), pilotage people can be allowed to undertake biggish communication load and calculation amount in pilotage people's follower's formation control method, and
And it faces the unstable situation of communications status and can be difficult to handle；Formation control device relies on location information and calculates control input, usually
Unstable singular point can occur due to nonsystematic in location data, and how to handle location data is also the pass in formation control
Key problem.
Summary of the invention
The purpose of the present invention is to solve drawbacks described above in the prior art, nobody of a kind of Behavior-based control control is provided
Machine cluster formation method.Position Effective judgement is carried out by the GPS sensor data obtained to unmanned plane and is controlled forming into columns
Main formation flight behavior is designed in device processed, according to different environment and mission requirements carry out formation flight behaviour decision making to
Obtain unmanned plane it is last control input, with control the movement of unmanned plane reach form into columns, improve formation flight during nobody
The formation of machine cluster keeps efficiency.
The present invention is realized at least through one of following technical solution.
A kind of unmanned plane cluster formation flight method of Behavior-based control control, comprising the following steps:
S1, in unmanned plane cluster, according to the motion model of unmanned plane, unmanned plane is numbered；
S2, formation control is carried out to unmanned plane cluster using formation control device；
The formation control strategy of S3, Behavior-based control select the formation flight behavior of unmanned plane cluster.
Preferably, the motion model of the unmanned plane meets:
Wherein, n is that integer represents unmanned plane quantity, corresponding i-th of the unmanned plane of n >=3, i, piRepresent i-th of unmanned plane
Position,Indicate i-th of unmanned plane to the differential of position,The control to i-th of unmanned plane is represented to input,WithThe linear velocity and angular speed corresponding to i-th of unmanned plane are respectively indicated, the location status amount p of unmanned plane is definedi=(xi,yi,
zi), wherein xi,yi,ziCorrespond respectively to x, y and z axes coordinate of the unmanned plane i in earth coordinates；
{ uav is described as by the unmanned plane cluster that n frame unmanned plane forms1, uav2,…,uavi,…,uavn, wherein uaviTable
Show the number of the i-th frame unmanned plane.For distributed multiple no-manned plane cluster, each unmanned plane is sensed by self-contained GPS
Device obtains the location information of the machine, and distributed multiple no-manned plane guarantees that unmanned plane cluster can answer using behaviorbased control mode
Under the premise of paying abnormal conditions, it is able to maintain that formation completes task.
Preferably, the formation flight behavior of the unmanned plane cluster is specifically included that task object motor behavior, formation guarantor
Hold behavior, collision avoids behavior and the holding behavior that peels off.
Preferably, the formation control device includes information Perception module, information Fusion Module, behaviour decision making module and flight
Control module；
Information Perception module includes sensor, for obtaining the location information and state of flight information of unmanned plane itself,
Location information including unmanned plane, velocity information and course deviation angle information；
Information Fusion Module, in conjunction with other unmanned planes state of flight information and environment in barrier and threatening area
Information generates accurate unmanned plane location information and path point information in formation control；
Behaviour decision making module according to the corresponding importance factor of each behavior and associated information calculation behavior weight, and is led to
The weight for crossing more each behavior carries out behaviour decision making, controls input instruction according to decision making, and control is inputted instruction and is sent
To flight control modules；The main behavior of UAV Formation Flight corresponds to related weight.The present invention is using mutual between behavior
The mode of inhibition carries out behaviour decision making by comparing the size of each behavior weight during UAV Formation Flight, with life
U is inputted at the control for corresponding to current institute's decision behaviori, indicate that correspond to i-th of unmanned plane inputs in the control at current time.
Flight control modules receive the flight controller of foundation control instruction driving unmanned plane after flight control instruction.
Preferably, the process of behaviour decision making module progress behaviour decision making is as follows:
Use w1、w2、w3And w4Respectively indicate to task object motor behavior, formation keep behavior, collision avoid behavior and
It peels off and keeps the weight of behavior, the value range for defining corresponding weight is 0≤w1,w2,w3,w4≤1；
Use a1、a2And a3The importance factor that unmanned plane executes each behavior when formation task is respectively corresponded, tune can be passed through
It is whole they size come adjust form into columns in unmanned plane formation Behavioral characteristic.By adjusting a1、a2And a3Size come adjust form into columns
The formation behavior of middle unmanned plane；If to the importance factor a of task object motor behavior1Greater than a2And a3, then unmanned plane cluster exists
It is more likely to preferentially reach task object point during execution task to complete task；If formation keep behavior importance because
Sub- a2Greater than a1And a3, then it represents that unmanned plane cluster is more likely to keep complete geometry formation；If collision avoids the important of behavior
Sex factor a3Greater than a1And a2, then unmanned plane, which can pay close attention to surrounding obstacles information during formation flight and to avoid, touches
It hits；Unmanned plane can seem quite with caution during formation flight, guard against other unmanned planes or Environment Obstacles with surrounding
Object collides.
The calculating of above each behavior weight is as follows:
(1)w1=a1, wherein a1For constant, 0 < a1< 1, the importance moved to target point in expression task, by controlling
Person's setting；
(2)Wherein a2For constant, 0 < a1< 1 illustrates the importance moved in task to target point,
It is set by controller, lifIndicate distance of the unmanned plane i apart from formation desired locations, wherein f indicates that desired locations, p indicate current
The permitted formation deviation of unmanned plane；
(3)Wherein a3For constant, 0 < a1< 1, illustrate moved in task to target point it is important
Property, it is set by controller, DsafeFor the safe distance at unmanned plane current time, DiThe most narrow spacing of barrier is detected for unmanned plane i
From；
(4) if unmanned plane is in communication failure state, w4=1, weight corresponding to remaining behavior is 0, at this time
Selection is peeled off holding behavior.
Preferably, the unmanned plane in unmanned plane cluster carries out the information between unmanned plane by ground control centre and hands over phase
Mutually, while every frame unmanned plane keeps the information exchange with ground control centre, wherein the information of unmanned plane and ground control centre
Interaction, so that unmanned plane obtains the task that control ground control centre is assigned, and ground controls under unmanned plane abnormality
The flight controller of center spud unmanned plane；It is each that information exchange between unmanned plane is in exchange in the process of forming into columns for unmanned plane
From speed and location information, maintain flight pattern and to move to target point.
Hybrid interactive mode is used in alternation of bed EDS maps formula multiple no-manned plane cluster, each distribution unmanned plane can be with ground
Face control centre interactive information, allows controller to adjust the state of unmanned plane at any time.
Preferably, in step S2, include: to the step of unmanned plane cluster progress formation control
S21, every frame unmanned plane obtain the position of oneself by self-contained GPS sensor, and by position validity
Judgement and position prediction obtain active position range, send information Perception module for the active position range；
S22, information Fusion Module receive information, in conjunction with other unmanned planes state of flight information and environment in obstacle
Object and threatening area information generate the location information and path point information of unmanned plane in formation control, when unmanned plane GPS sensor
Position data when exceeding active position range, forecast analysis is carried out to the inoperative position of unmanned plane using particle filter algorithm,
Obtain the position data of unmanned plane；
S23, behaviour decision making module are carried out during UAV Formation Flight by comparing the size of each behavior weight
Behaviour decision making, to generate the control input u for corresponding to current institute's decision behaviori, and flight control is sent by control input instruction
Molding block controls unmanned plane.
Preferably, in step S21, the position data of unmanned plane as acquired in self-contained position GPS sensor, due to
There are the systematic error e of itself for GPS sensoruavAnd it will appear singular point data deviate on a large scale i.e. in some regions
The active position of unmanned plane, therefore, it is necessary to introduce position Effective judgement, it is assumed that in T0Moment, the position p of unmanned plane ii(xi,
yi,zi) be unmanned plane active position, in this period unmanned plane control input is converted into unmanned plane kinematics be vi, by
In unmanned plane control be input to unmanned plane movement between there are systematic error euav, the position of unmanned plane after a period of time Δ T
Set pi'(x'i,y'i,z'i) meet following constraint:
xi+∫(vix-euav)dt<x'i<xi+∫(vix+euav)dt (15)
yi+∫(viy-euav)dt<y'i<yi+∫(viy+euav)dt (16)
zi+∫(viz-euav)dt<z'i<zi+∫(viz+euav)dt (17)
Formula (2) to formula (4) are active position range of the unmanned plane after moving a period of time, if GPS is sensed
Device data deviate from active position range, then particle filter will be taken to predict position, to obtain more stable
Position data.vix、viy、vizRespectively indicate current time unmanned plane x under global coordinate system, y, the corresponding speed in the direction z.
Preferably, in step S23, the control input of unmanned plane calculating position is specific as follows:
Unmanned plane i its own relative to navigating referring to the distance and angle of unmanned plane be respectively liWithCorresponding expectation
Position is denoted as l to the distance and angle navigated with reference to unmanned planeifWith Indicate expectation angle of drift, xif、yifAnd zifTable respectively
Show lifThe component l on x, y, z axis is tied up to corresponding to geodetic coordinatesif, angle parameter β is introduced convenient for indicating, is rememberedIts
Middle θiIndicate the angle of drift of unmanned plane itself, navigator is denoted as v with reference to the speed of unmanned planeL, unmanned plane i is in formation holding behavior
Control input are as follows:
WithRespectively indicate the wire velocity control instruction and angular speed control instruction of i-th of unmanned plane, ωiIt indicates to navigate
Referring to the angular speed of unmanned plane；
Formed after initial formation, keep under good communication conditions if unmanned plane do not encounter barrier region or
The collision between cluster internal unmanned plane occurs, unmanned plane will be selected to task object motor behavior；If the current location unmanned plane i
With at a distance from the G of target position be R, unmanned plane movement positive direction and task object between angle beThen current behavior generates
Control input are as follows:
Wherein α1And α2It is given control coefrficient, d indicates the diameter of unmanned plane；
Consider that there may be barriers in practical flight environment, cause unmanned plane cluster to need to switch formation and pass through barrier
Domain selects collision to avoid behavior, first ensures at this time if the distance for detecting unmanned plane to barrier is less than safe distance
The safe distance of the safety of unmanned plane, unmanned plane indicates are as follows:
Wherein, a, b are control parameter, can use any real number more than or equal to 0；D0Unmanned plane is represented because air pulsation needs
The minimum range to be kept with barrier, ruavRepresent the radius of unmanned plane, the speed of V unmanned plane,Represent unmanned plane body seat
Mark the Y-axis of system and the angle of barrier；Other unmanned planes in cluster and the barrier zone in environment are accordingly to be regarded as danger area
Domain, when unmanned plane is less than safe distance at a distance from danger zone, unmanned plane decision is that collision avoids behavior, sails unmanned plane
Danger zone out；
Collision avoids the control of behavior unmanned plane from inputting are as follows:
Wherein, Vt-1For the speed of last moment unmanned plane, k1And k2For the control coefrficient of unmanned plane, any be greater than etc. can use
In 0 real number；DiExpression unmanned plane is at a distance from barrier, ωmaxIndicate the maximum angular rate of unmanned plane；Vt-1For last moment
The speed of unmanned plane.
Unmanned plane can keep communicating with other unmanned planes in cluster during formation flight, when detecting communication matter
It measures bad and is greater than 500ms in communication failure state i.e. communication delay, then the unmanned plane can select the holding behavior that peels off.
Unmanned plane cluster is divided into cluster regions, the holding area that peels off, peel off region, according to unmanned planes all in cluster
Position calculates the center of unmanned plane cluster, and finds the current formation unmanned plane farthest apart from cluster centers, remembers the unmanned plane
Distance to cluster centers is R1, R2=R1+ 2d, R3=R2+ 2d, d indicates the diameter of unmanned plane, R here1,R2,R3Respectively collect
Group region, the holding area that peels off and the region that peels off radius；When unmanned plane be in peel off keep behavior when, sentenced first according to data
Disconnected which region for being currently at cluster, and set and intend move distance at this time as r, it is calculated according to the quasi- move distance of current unmanned plane
Control input out are as follows:
WhereinWithRespectively indicating the angle that distance r and unmanned plane move between positive direction and target point isTo the time
Differential, viIndicate that unmanned plane moves linear velocity, ωiIndicate unmanned plane angular velocity of satellite motion；
Final control target is the control input of unmanned plane in the holding behavior that must peel off so that r=0 are as follows:
Wherein α3And α4It is given control coefrficient, value range is the real number for being less than or equal to 1 greater than 0；It is lost when in communication
After unmanned plane under effect state restores normal communication state, formation is taken to keep behavior due to having deviated from formation desired locations
Continue the normal operation for guaranteeing to form into columns, subsequent unmanned plane cluster continues to keep moving to the task object of formation flight until final
Complete tracking aerial mission of forming into columns.
Preferably, if GPS sensor data deviate from active position range, the present invention takes particle filter to come to position
It is predicted, to obtain more stable position data.Position prediction based on particle filter is divided into particle importance sampling, again
The property wanted weight computing simultaneously normalizes, three steps of particle resampling, specific as follows:
S221, initial time k=1 is taken, the probability density function p (x from unmanned plane positionk) one group of primary of middle extractionWhereinA-th of particle that the expression k moment is extracted from probability density function, a ∈ [1, N], N
Indicate the quantity of particle；
S222, importance sampling is carried out to N number of particle:
Wherein, the probability value of particle a is obeyedFor importance density function, symbol~expression clothes
From probability density function,Indicate probability value to particle a initial time to the set at k-1 momentz1:k={ z1,z2,…,zk) it is measuring assembly to moment k, zkThe probability for being for moment k
Measured value；
S223, the weight for calculating particle importance simultaneously carry out weight normalization:
WhereinWithRespectivelyWith Indicate that probability observed quantity corresponds to the probability density of the particle
Function,Indicate the probability density function at same particle front and back moment,For the correspondence at front and back moment
The conditional probability of particle；
Weight after particle normalization are as follows:
WhereinWeight after expression normalization, j ∈ [1, N],Indicate the weight of each particle；
S224, fromAccording to importance weight in setResampling obtains the set of new N number of particleAnd more
The weight of new particle
S225, output pass through the unmanned plane position data of particle filter:
WhereinIndicate the position data of the unmanned plane after k moment particle filter,Indicate the grain that resampling obtains
Son.
As further preferred, the principle to task object motor behavior is according to whole task object point of forming into columns, control
Unmanned plane cluster processed is moved to task object point, and the trigger condition of the behavior is usually that unmanned plane cluster has formed the several of requirement
What formation.It is so that all unmanned planes in cluster take formation to protect during execution task that formation, which keeps the principle of behavior,
The behavior of holding can effectively form and maintain formation, and the trigger condition of the behavior is usually at the beginning of formation tracing task executes
It needs to form formation and avoidance task is completed to need to restore formation later.It is whole in order to guarantee that collision, which avoids the principle of behavior,
A unmanned plane cluster can smoothly carry out the autonomous collision prevention of unmanned plane and unmanned plane cluster avoidance.It peels off and keeps the principle of behavior
It is no matter to take what kind of control indemnifying measure to be all difficult to keep unmanned plane cluster when UAV Communication is not in good state
Flight pattern, in order to guarantee the safety of unmanned plane, setting peels off under holding behavior waits unmanned plane in the range that peels off and communicates shape
State is restored.
As further preferred, if being at a distance from the G of target position to the task object motor behavior current location unmanned plane i
R, the angle between unmanned plane movement positive direction and task object point arePrinciple to task object motor behavior is to nobody
Machine implement control so that unmanned plane be contracted at a distance from target position 0 and the direction of motion angle it is close
As further preferred, formation keeps behavior to take the mode of navigator's reference point, carries out the calculating of formation desired locations,
Once formation determines, every frame unmanned plane can calculate the formation desired point corresponding to itself.Each unmanned plane according to
Relative to the distance l and angle for referring to unmanned plane that navigateDetermine position and direction of this unmanned plane in formation, therefore
Referred to as it is based onThe formation of feedback control keeps algorithm.When in cluster with a unmanned plane be navigate refer to unmanned plane, other
When unmanned plane is as holding unmanned plane is followed, when navigator's unmanned plane does linear uniform motion or circular motion, based on linear
It is stable that the formation of feedback, which keeps algorithm,.
As further preferred, the angle of the radius of unmanned plane, the flying speed of unmanned plane, unmanned plane and barrier is considered
Etc. factors be arranged safe distance.When the angle between the current course of unmanned plane and barrier is less than pi/2, the speed of unmanned plane is got over
Safe distance that is fast then needing to keep is bigger；When the angle between the current course angle of unmanned plane and barrier is greater than pi/2, nothing
Man-machine speed does not influence safe distance, it is only necessary to consider air pulsation need the minimum range that keeps and unmanned plane and
The radius of barrier.
As further preferred, it is when the communication delay in unmanned plane and cluster between other unmanned planes is greater than 500ms
Stablizing and preventing unmanned plane cluster internal from colliding for flight pattern is kept, the holding behavior of peeling off can be entered.By nobody
Machine cluster is divided into cluster regions, and peel off holding area, and peel off three, region range.When unmanned plane be in peel off keep behavior when,
Which region of cluster is currently at according to the judgement of nearest data available first, and sets and intends move distance at this time as r, according to current
The quasi- move distance of unmanned plane calculates control input, and the principle of the behavior is so that unmanned plane is maintained at the region that peels off, to keep away
Exempt to collide with other unmanned planes in cluster.
Compared with the existing technology compared with, the beneficial effects of the present invention are embodied in:
1, the present invention provides a kind of distributed formation method based on position prediction and behaviour control, passes to unmanned plane GPS
The position data combination unmanned plane kinestate that sensor receives carries out position Effective judgement, and invalid position data is adopted
Inoperative position is replaced with the position data that the active position data of last moment carry out particle filter prediction current time, in this way
Way is effectively reduced the case where bring formation control concussion unstable due to position data, strengthens the steady of formation control
It is qualitative.
2, hybrid-type information exchange mode is formed plus ground control centre on the basis of distributed unmanned plane cluster.
The formation control mode for cooperating Behavior-based control, gives the main behavior of unmanned plane cluster formation flight, and by each behavior it
Between the method that mutually inhibits carry out the behaviour decision making of unmanned plane during formation flight and ultimately produce control input for flight,
The formation control mode can make unmanned plane effectively form formation during formation flight and improve unmanned plane cluster
Formation conservation rate during formation flight.
Detailed description of the invention
Fig. 1 is a kind of unmanned plane cluster formation flight method control model schematic diagram of Behavior-based control control in embodiment；
Fig. 2 is the information interaction pattern diagram of cluster unmanned plane in embodiment；
Fig. 3 is that unmanned plane cluster formation keeps behavior schematic diagram in embodiment；
Fig. 4 peels off for unmanned plane in embodiment and keeps behavior schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment shows a kind of unmanned plane cluster formation flight methods of Behavior-based control control, are executing tracking of forming into columns
During aerial mission, unmanned plane is controlled using formation flight scheme proposed by the present invention, specifically includes following step
It is rapid:
S1, in unmanned plane cluster, according to the motion model of unmanned plane, unmanned plane is numbered；
The unmanned plane cluster being made of n frame unmanned plane, is in order numbered unmanned plane, and unmanned plane cluster is described as
{uav1, uav2,…,uavi,…,uavn, wherein uaviIndicate the number of the i-th frame unmanned plane.
Unmanned plane meets following motion model:
Wherein, n is that integer represents unmanned plane quantity, corresponding i-th of the unmanned plane of n >=3, i, piRepresent i-th of unmanned plane
Position,Indicate i-th of unmanned plane to the differential of position,The control to i-th of unmanned plane is represented to input,WithThe linear velocity and angular speed corresponding to i-th of unmanned plane are respectively indicated, the location status amount p of unmanned plane is definedi=(xi,yi,
zi), wherein xi,yi,ziCorrespond respectively to x of the unmanned plane i in earth coordinates, y, z-axis coordinate；θiIndicate the boat of unmanned plane i
Drift angle.
S2, formation control is carried out to unmanned plane cluster using formation control device.
The formation control strategy of S3, Behavior-based control select the formation flight behavior of unmanned plane cluster.The unmanned plane cluster
Formation flight behavior specifically include that task object motor behavior, formation keep behavior, collision avoid behavior and the holding that peels off
Behavior.
Using the action amalgamation strategy mutually inhibited between each behavior, the generation of control input, the formation of unmanned plane i are carried out
Control structure is as shown in Figure 1.The formation control device of unmanned plane includes information Perception module, information Fusion Module, behaviour decision making mould
Block and flight control modules.The position location information and state of flight that unmanned plane obtains itself by information Perception module are believed
Breath；Unmanned plane is generated by information Fusion Module combination self information, the status information of other unmanned planes and environmental information and is compiled
Available information in team's control；Behaviour decision making module is according to the corresponding importance factor of formation flight behavior and relevant information meter
Calculation behavior weight, and behaviour decision making is carried out by comparing the weight of behavior, generate control input instruction ui；Flight control modules
Receive the flight controller after flight control instruction according to control instruction driving unmanned plane.
The selection of each behavior of unmanned plane can be configured according to the needs of task.Use w1、w2、w3、w4It respectively indicates
Corresponding to keeping to task object motor behavior, formation, behavior, collision avoids behavior, peeling off keeps the weight of behavior.Definition pair
The value range for answering weight is 0≤w1,w2,w3,w4≤1。
The calculating of above each behavior weight is as follows:
(1)w1=a1, wherein a1For the constant greater than 0 less than 1, the importance moved in task to target point is illustrated, by
Controller's setting.
(2)Wherein a2For the constant greater than 0 less than 1, illustrate moved in task to target point it is important
Property, it is set by controller.lifIndicate distance of the unmanned plane i apart from formation desired locations, p indicates that current UAV system is allowed
Formation deviation.
(3)Wherein a3For the constant greater than 0 less than 1, illustrate moved in task to target point it is important
Property, it is set by controller.DsafeFor the safe distance at unmanned plane current time, DiFor the minimum range for detecting barrier.
(4) if unmanned plane is in communication failure state, w4=1, weight corresponding to remaining behavior is 0, at this time
It peels off and keeps the highest priority of behavior.
The importance of man-machine each behavior can be according to the requirement flexible setting of specific tasks.a1,a2,a3Respectively correspond nobody
The importance factor of each behavior when machine executes formation task, can by adjusting their size come adjust form into columns in unmanned plane
Formation Behavioral characteristic.If to the importance factor a of task object point motor behavior1Relatively high, then unmanned plane cluster is executing
Preferential completion task is more likely to during task, and the attention rate for keeping degree and collision to avoid formation is weaker；If
The importance factor a that formation is kept2It is relatively high, then it represents that unmanned plane cluster is more likely to keep complete geometry formation, meeting
Seem that movement velocity is slower, but formation keeps more preferable；If collision avoids the importance factor a of behavior3It is relatively high, then without
It is man-machine to seem during formation flight quite with caution, guard against and other unmanned planes of surrounding or the generation of Environment Obstacles object
Collision.
During formation flight task execution, in order to realize unmanned plane cluster formation control, each unmanned plane and ground are controlled
A kind of hybrid-type information interaction approach is taken between center processed, referring to fig. 2.There is information exchange between unmanned plane mutually, simultaneously
Each unmanned plane keeps the information exchange with ground control centre.The information exchange of unmanned plane and ground control centre can make
Obtain the controller that unmanned plane is originally taken control centre's adapter tube unmanned plane under control centre's assigned tasks and abnormality；Nothing
Information exchange between man-machine, which is in form into columns for unmanned plane, exchanges respective state (speed, position) information in the process, is used for
It maintains to form into columns and move to target point.
During formation flight, every frame unmanned plane obtains position data by the GPS sensor that it is carried, and passes through
Position Effective judgement and position prediction obtain active position range, send information Perception module for the active position range.
Since there are the systematic error (e of itself for GPS sensoruav) and it is possible that singular point (i.e. data are big in some regions
The active position for deviating from unmanned plane of range).Position Effective judgement is introduced when this is needed, it is assumed that in T0Moment, nobody
The position p of machinei(xi,yi,zi) be unmanned plane active position, in this period unmanned plane control input be converted into nobody
Machine kinematics is vi, since the control of unmanned plane is input between unmanned plane movement, there are systematic error euav, then at one section
Between after Δ T unmanned plane position pi'(x'i,y'i,z'i) meet following constraint:
xi+∫(vix-euav)dt<x'i<xi+∫(vix+euav)dt (2)
yi+∫(viy-euav)dt<y'i<yi+∫(viy+euav)dt (3)
zi+∫(viz-euav)dt<z'i<zi+∫(viz+euav)dt (4)
Formula (2) to formula (4) gives active position range of the unmanned plane after moving a period of time, if GPS
Sensing data deviates from active position range, then the method for particle filter is taken just to predict position, to obtain
Obtain more stable position data.
Take particle filter method to the position of unmanned plane when unmanned plane GPS sensor data exceed active position range
It is predicted, its step are as follows:
S221, initial time k=1 is taken, the probability density function p (x from unmanned plane positionk) one group of primary of middle extractionWhereinA-th of particle that the expression k moment is extracted from probability density function, a ∈ [1, N], N
Indicate the quantity of particle；
S222, importance sampling is carried out to N number of particle:
Wherein, the probability value of particle a is obeyedFor importance density function, symbol~expression clothes
From probability density function,Indicate probability value to particle a initial time to the set at k-1 momentz1:k={ z1,z2,…,zk) it is measuring assembly to moment k, zkThe probability for being for moment k
Measured value；
S223, the weight for calculating particle importance simultaneously carry out weight normalization:
WhereinWithRespectivelyWith Indicate that probability observed quantity corresponds to the probability density of the particle
Function,Indicate the probability density function at same particle front and back moment,For the correspondence at front and back moment
The conditional probability of particle；
Weight after particle normalization are as follows:
WhereinWeight after expression normalization, j ∈ [1, N],Indicate the weight of each particle；
S224, fromAccording to importance weight in setResampling obtains the set of new N number of particleAnd more
The weight of new particle
S225, output pass through the unmanned plane position data of particle filter:
WhereinIndicate the position data of the unmanned plane after k moment particle filter,Indicate the grain that resampling obtains
Son.
When tracking aerial mission of forming into columns starts, each unmanned plane is in different location, when unmanned plane is received from earth station
Start to execute tracking aerial mission of forming into columns after assignment instructions, needs successively to carry out tracking observation to task object point.The present invention adopts
Navigate the formation formation referred to and keeping method are taken, since the initial position of each unmanned plane compares apart from current formation desired locations
Far, according to action selection strategy, if unmanned plane communications status is normal, it can select formation that behavior is kept to go to form flight pattern,
As shown in Figure 3.Every frame unmanned plane calculates control input according to oneself desired locations in formation, and reaches desired formation.Team
Shape keep behavior schematic diagram as shown in figure 3, unmanned plane i its own relative to navigate referring to unmanned plane distance and angle difference
For liWithCorresponding desired locations are denoted as l to the distance and angle navigated with reference to unmanned planeifWith Indicate expectation boat
Drift angle, xif、yifAnd zifRespectively indicate lifThe component l on x, y, z axis is tied up to corresponding to geodetic coordinatesif, and rememberθi
Indicate the angle of drift of unmanned plane itself, ωiFor the current angular speed of unmanned plane, navigator is denoted as v with reference to the speed of unmanned planeL, nobody
Machine i keeps the control input of behavior in formation are as follows:
WithRespectively indicate the wire velocity control instruction and angular speed control instruction of i-th of unmanned plane；
Formed after initial formation, keep under good communication conditions if unmanned plane do not encounter barrier region or
The collision between cluster internal unmanned plane occurs, unmanned plane can be more likely to task object point motor behavior.If unmanned plane i works as
Front position is R at a distance from the G of target position, and the angle between unmanned plane movement positive direction and task object point isIt is then current
The control input that behavior generates are as follows:
Wherein α in above-mentioned formula1And α2It is given control coefrficient.
Consider that there may be barriers in practical flight environment, cause unmanned plane cluster to need to switch formation and pass through barrier
Domain selects collision to avoid behavior at this time if the distance for detecting unmanned plane to barrier is less than safe distance, preferential to protect
Hinder the safety of unmanned plane, the safe distance of unmanned plane indicates are as follows:
Wherein, D0Unmanned plane is represented because air pulsation needs the minimum range kept with barrier, ruavRepresent unmanned plane
Radius,Represent the Y-axis of unmanned plane body coordinate system and the angle of barrier；By other unmanned planes and environment in cluster
In barrier zone be accordingly to be regarded as danger zone, when unmanned plane at a distance from danger zone be less than safe distance when unmanned plane decision be
Collision avoids behavior, and unmanned plane is made to be driven out to danger zone；
Collision avoids the control of behavior unmanned plane from inputting are as follows:
In above-mentioned formula, Vt-1For the speed of last moment unmanned plane, k1And k2For control coefrficient, DiIndicate unmanned plane and barrier
Hinder the distance of object, ωmaxIndicate the maximum angular rate of unmanned plane.
Unmanned plane can keep communicating with other unmanned planes in cluster during formation flight, when detecting communication matter
It measures bad and is greater than 500ms in communication failure state i.e. communication delay, then the unmanned plane can select the holding behavior that peels off, from
Group keeps the schematic diagram of behavior as shown in Figure 4.
Unmanned plane cluster is divided into cluster regions, the holding area that peels off, peel off region, according to unmanned planes all in cluster
Position calculates the center of unmanned plane cluster, and finds the current formation unmanned plane farthest apart from cluster centers, remembers the unmanned plane
Distance to cluster centers is R1, R2=R1+ 2d, R3=R2+ 2d, d indicates the diameter of unmanned plane, R here1,R2,R3Respectively collect
Group region, the holding area that peels off and the region that peels off radius.When unmanned plane be in peel off keep behavior when, first according to recently may be used
Which region for being currently at cluster is judged with data, and is set and intended move distance at this time as r, according to the quasi- movement of current unmanned plane
Distance calculates control input are as follows:
WhereinWithRespectively indicating the angle that distance r and unmanned plane move between positive direction and target point isTo the time
Differential, viIndicate that unmanned plane moves linear velocity, ωiIndicate unmanned plane angular velocity of satellite motion.
Final control target is the control input of unmanned plane in the holding behavior that can must peel off so that r=0 are as follows:
Wherein α3And α4It is given control coefrficient.When the unmanned plane under communication failure state restores normal communication shape
After state, take formation that behavior is kept to continue the normal operation for guaranteeing to form into columns due to having deviated from formation desired locations.Subsequent nothing
Man-machine cluster continues to keep to be moved to the task object point of formation flight until being finally completed tracking aerial mission of forming into columns.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of unmanned plane cluster formation flight method of Behavior-based control control, which comprises the following steps:
S1, in unmanned plane cluster, according to the motion model of unmanned plane, unmanned plane is numbered；
S2, formation control is carried out to unmanned plane cluster using formation control device；
The formation control strategy of S3, Behavior-based control select the formation flight behavior of unmanned plane cluster.
2. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 1, which is characterized in that described
Unmanned plane motion model meet:
Wherein, n is that integer represents unmanned plane quantity, corresponding i-th of the unmanned plane of n >=3, i, piThe position of i-th of unmanned plane is represented,Indicate i-th of unmanned plane to the differential of position,The control to i-th of unmanned plane is represented to input,WithRespectively
It indicates the linear velocity and angular speed that correspond to i-th of unmanned plane, defines the location status amount p of unmanned planei=(xi,yi,zi),
Middle xi,yi,ziCorrespond respectively to x, y and z axes coordinate of the unmanned plane i in earth coordinates；
{ uav is described as by the unmanned plane cluster that n frame unmanned plane forms1, uav2,…,uavi,…,uavn, wherein uaviIndicate the
The number of i frame unmanned plane.
3. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 1, which is characterized in that nobody
The formation flight behavior of machine cluster specifically include that task object motor behavior, formation keep behavior, collision avoid behavior and from
Group keeps behavior.
4. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 1, which is characterized in that described
Formation control device includes information Perception module, information Fusion Module, behaviour decision making module and flight control modules；
Information Perception module includes sensor, for obtaining the location information and state of flight information of unmanned plane itself, including
The location information of unmanned plane, velocity information and course deviation angle information；
Information Fusion Module, in conjunction with other unmanned planes state of flight information and environment in barrier and threatening area information
Generate the location information and path point information of unmanned plane in formation control；
Behaviour decision making module according to the corresponding importance factor of each behavior and associated information calculation behavior weight, and passes through ratio
The weight of more each behavior carries out behaviour decision making, controls input instruction according to decision making, and will control input instruction be sent to it is winged
Row control module；
Flight control modules receive the flight controller of foundation control instruction driving unmanned plane after flight control instruction.
5. the unmanned plane cluster formation flight method of Behavior-based control according to claim 4, which is characterized in that behaviour decision making
The process that module carries out behaviour decision making is as follows:
Use w1、w2、w3And w4Respectively indicating to task object motor behavior, formation keeps behavior, collision to avoid behavior and peel off
The weight of holding behavior, the value range for defining corresponding weight is 0≤w1,w2,w3,w4≤1；
Use a1、a2And a3The importance factor that unmanned plane executes each behavior when formation task is respectively corresponded, each behavior of unmanned plane
Importance is arranged according to the requirement of specific tasks, by adjusting a1、a2And a3Size come adjust form into columns in unmanned plane formation row
For；If to the importance factor a of task object motor behavior1Greater than a2And a3, then unmanned plane cluster is during execution task
It is more likely to preferentially reach task object point to complete task；If the importance factor a of formation holding behavior2Greater than a1And a3, then
Indicate that unmanned plane cluster is more likely to keep complete geometry formation；If collision avoids the importance factor a of behavior3Greater than a1With
a2, then unmanned plane can pay close attention to surrounding obstacles information during formation flight to avoid collision；
The calculating of above each behavior weight is as follows:
(1)w1=a1, wherein a1For constant, 0 < a1< 1, the importance moved in expression task to target point, is set by controller
It is fixed；
(2)Wherein a2For constant, 0 < a1< 1, the importance moved to target point in expression task, by controller
Setting, lifIndicate distance of the unmanned plane i apart from formation desired locations, wherein f indicates that desired locations, p indicate current unmanned plane institute
The formation deviation of permission；
(3)Wherein a3For constant, 0 < a1< 1, the importance moved to target point in expression task, by controlling
Person's setting processed, DsafeFor the safe distance at unmanned plane current time, DiThe minimum range of barrier is detected for unmanned plane i；
(4) if unmanned plane is in communication failure state, w4=1, weight corresponding to remaining behavior is 0, at this time will selection
Peel off holding behavior.
6. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 1, which is characterized in that nobody
Unmanned plane in machine cluster carries out the information between unmanned plane by ground control centre and hands over mutually, while every frame unmanned plane is kept
With the information exchange of ground control centre, wherein the information exchange of unmanned plane and ground control centre, so that unmanned plane obtains control
The task that ground control centre processed is assigned, and under unmanned plane abnormality ground control centre adapter tube unmanned plane flight control
Device processed；Information exchange between unmanned plane, which is in form into columns for unmanned plane, exchanges respective speed and location information in the process, ties up
It holds flight pattern and is moved to target point.
7. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 1, which is characterized in that step
In S2, include: to the step of unmanned plane cluster progress formation control
S21, every frame unmanned plane obtain the position of oneself by self-contained GPS sensor, and by position Effective judgement
Active position range is obtained with position prediction, sends information Perception module for the active position range；
S22, information Fusion Module receive information, in conjunction with other unmanned planes state of flight information and environment in barrier and
Threatening area information generates the location information and path point information of unmanned plane in formation control, when the position of unmanned plane GPS sensor
When setting data beyond active position range, forecast analysis is carried out using inoperative position of the particle filter algorithm to unmanned plane, is obtained
The position data of unmanned plane；
S23, behaviour decision making module carry out behavior by comparing the size of each behavior weight during UAV Formation Flight
Decision, to generate the control input u for corresponding to current institute's decision behaviori, and flight control mould is sent by control input instruction
Block controls unmanned plane.
8. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 7, which is characterized in that step
The acquisition of active position range is as follows in S21:
Assuming that in T0Moment, the position p of unmanned plane ii(xi,yi,zi) be unmanned plane active position, unmanned plane control input turn
Turning to unmanned plane kinematics is vi, since the control of unmanned plane is input between unmanned plane movement, there are systematic error euavAnd
It will appear the active position that singular point data i.e. in some regions deviate unmanned plane on a large scale, after a period of time Δ T
The position p of unmanned planei'(x'i,y'i,z'i) meet following constraint:
xi+∫(vix-euav)dt<x'i<xi+∫(vix+euav)dt (2)
yi+∫(viy-euav)dt<y'i<yi+∫(viy+euav)dt (3)
zi+∫(viz-euav)dt<z'i<zi+∫(viz+euav)dt (4)
Formula (2) to formula (4) are active position range of the unmanned plane after moving a period of time, vix、viy、vizTable respectively
Show current time unmanned plane x under global coordinate system, y, the corresponding speed in the direction z.
9. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 7, which is characterized in that step
In S23, the control input of unmanned plane calculating position is specific as follows:
Unmanned plane i its own relative to navigating referring to the distance and angle of unmanned plane be respectively liWithCorresponding desired locations
L is denoted as to the distance and angle navigated with reference to unmanned planeifWith Indicate expectation angle of drift, xif、yifAnd zifIt respectively indicates
lifThe component l on x, y, z axis is tied up to corresponding to geodetic coordinatesif, angle parameter β is introduced convenient for indicating, is rememberedWherein
θiIndicate the angle of drift of unmanned plane itself, navigator is denoted as v with reference to the speed of unmanned planeL, control of the unmanned plane i in formation holding behavior
System input are as follows:
WithRespectively indicate the linear velocity and angular speed of unmanned plane i, ωiIndicate the angular speed to navigate referring to unmanned plane；
It is formed after initial formation, is kept under good communication conditions if unmanned plane does not encounter barrier region or generation
Collision between cluster internal unmanned plane, unmanned plane will be selected to task object motor behavior；If the current location unmanned plane i and mesh
The distance of cursor position G is R, and the angle between unmanned plane movement positive direction and task object isThe then control that current behavior generates
Input are as follows:
Wherein α1And α2It is given control coefrficient, value range is the real number for being less than or equal to 1 greater than 0, and d indicates the straight of unmanned plane
Diameter；
Consider that there may be barriers in practical flight environment, cause unmanned plane cluster to need to switch formation and pass through barrier zone,
At this time if the distance for detecting unmanned plane to barrier is less than safe distance, selects collision to avoid behavior, first ensure nothing
The safe distance of man-machine safety, unmanned plane indicates are as follows:
Wherein, a, b are control parameter, take any real number more than or equal to 0；D0Unmanned plane is represented because air pulsation needs and hinders
The minimum range for hindering object to keep, ruavRepresent the radius of unmanned plane, the speed of V unmanned plane,Represent the Y of unmanned plane body coordinate system
The angle of axis and barrier；Other unmanned planes in cluster and the barrier zone in environment are accordingly to be regarded as danger zone, work as nothing
It is man-machine at a distance from danger zone be less than safe distance when unmanned plane decision be collision avoid behavior, so that unmanned plane is driven out to danger area
Domain；
Collision avoids the control of behavior unmanned plane from inputting are as follows:
Wherein, Vt-1For the speed of last moment unmanned plane, k1And k2For the control coefrficient of unmanned plane, takes and be arbitrarily more than or equal to 0
Real number；DiExpression unmanned plane is at a distance from barrier, ωmaxIndicate the maximum angular rate of unmanned plane；
Unmanned plane can keep communicating with other unmanned planes in cluster during formation flight, when detecting communication quality not
It is good and in communication failure state, that is, communication delay be greater than 500ms, then the unmanned plane can select the holding behavior that peels off；
Unmanned plane cluster is divided into cluster regions, the holding area that peels off, peel off region, according to the position of unmanned planes all in cluster
The center of unmanned plane cluster is calculated, and finds the current formation unmanned plane farthest apart from cluster centers, remembers the unmanned plane to collection
The distance of group center is R1, R2=R1+ 2d, R3=R2+ 2d, d indicate the diameter of unmanned plane, R1,R2,R3Respectively cluster regions, from
The radius of group's holding area and the region that peels off；When unmanned plane be in peel off keep behavior when, judge current place according to data first
It in which region of cluster, and sets and intends move distance at this time as r, it is defeated that control is calculated according to the quasi- move distance of current unmanned plane
Enter are as follows:
WhereinWithRespectively indicating the angle that distance r and unmanned plane move between positive direction and target point isIt is micro- to the time
Point, viIndicate that unmanned plane moves linear velocity, ωiIndicate unmanned plane angular velocity of satellite motion；
Final control target is the control input of unmanned plane in the holding behavior that must peel off so that r=0 are as follows:
Wherein α3And α4It is given control coefrficient, value range is the real number for being less than or equal to 1 greater than 0；When in communication failure shape
After unmanned plane under state restores normal communication state, take formation that behavior is kept to continue due to having deviated from formation desired locations
Guarantee the normal operation formed into columns, subsequent unmanned plane cluster continues to keep moving to the task object of formation flight until being finally completed
It forms into columns and tracks aerial mission.
10. the unmanned plane cluster formation flight method of Behavior-based control control according to claim 7, which is characterized in that step
In rapid S22, forecast analysis is carried out using inoperative position of the particle filter algorithm to unmanned plane, comprising the following steps:
S221, initial time k=1 is taken, the probability density function p (x from unmanned plane positionk) one group of primary of middle extractionWhereinA-th of particle that the expression k moment is extracted from probability density function, a ∈ [1, N], N
Indicate the quantity of particle；
S222, importance sampling is carried out to N number of particle:
Wherein, the probability value of particle a is obeyedFor importance density function, probability is obeyed in symbol~expression
Density function,Indicate probability value to particle a initial time to the set at k-1 momentz1:k=
{z1,z2,…,zk) it is measuring assembly to moment k, zkThe probability measure for being for moment k；
S223, the weight for calculating particle importance simultaneously carry out weight normalization:
WhereinWithRespectivelyWith Indicate that probability observed quantity corresponds to the probability density function of the particle,Indicate the probability density function at same particle front and back moment,For the correspondence particle at front and back moment
Conditional probability；
Weight after particle normalization are as follows:
WhereinWeight after expression normalization, j ∈ [1, N],Indicate the weight of each particle；
S224, fromAccording to importance weight in setResampling obtains the set of new N number of particleAnd update grain
The weight of son
S225, output pass through the unmanned plane position data of particle filter:
WhereinIndicate the position data of the unmanned plane after k moment particle filter,Indicate the particle that resampling obtains.
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