CN112859916B - Multi-unmanned aerial vehicle arrival time cooperative control method and device - Google Patents
Multi-unmanned aerial vehicle arrival time cooperative control method and device Download PDFInfo
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Abstract
The application relates to a multi-unmanned aerial vehicle arrival time cooperative control method based on a speed regulation strategy, which comprises the following steps: acquiring flight capacity parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters include speed parameters of the drone, and the flight status data includes current position data and speed data of the drone. According to the preset target and the arrival speed values of all the unmanned aerial vehicles, the shortest time for the unmanned aerial vehicles to arrive at the preset target is obtained according to the flight capacity and the current flight state of all the unmanned aerial vehicles to be adjusted, the time for all the unmanned aerial vehicles to arrive at the target is taken as the coordinated arrival time, and the speed control scheme of all the unmanned aerial vehicles is planned to enable the unmanned aerial vehicles to arrive at the target at the preset speed at the same time. The application has the advantages that the calculation mode is simple, the robustness is good, the calculation amount of the unmanned aerial vehicle can be reduced, the calculation performance requirement and the energy consumption amount are reduced, and the application is suitable for controlling multiple unmanned aerial vehicles to arrive at a single or multiple targets which are static or move simultaneously.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle cooperative control, in particular to a multi-unmanned aerial vehicle arrival time cooperative control method based on a speed adjustment strategy.
Background
The unmanned aerial vehicle has the advantages of wide task range, low cost, high efficiency, flexible use and the like, and is widely applied to multiple fields of entertainment, agriculture, security, military and the like. With the complexity of task properties and the diversification of task environments, the requirement of a single unmanned aerial vehicle on tasks is difficult to meet due to the limitation of the size, load, cruising ability, viability and the like. Inspired by the fact that some biological group teams in the nature show complex group behaviors (such as ant cooperative transportation, wild goose formation migration, wolf group cooperative hunting and the like) through the cooperation of simple rules, multiple unmanned aerial vehicles are combined into a cluster formation cooperative operation, and the execution task range can be effectively expanded through situation perception and information sharing among multiple machines, centralized decision and task allocation, so that the survival capability and the task efficiency are improved, and the unmanned aerial vehicles become hot spots for attention and research in recent years.
The simultaneous arrival of multiple unmanned aerial vehicles is an important subject in the technical field of unmanned aerial vehicle cooperative control, and means that the unmanned aerial vehicles taking off at different starting points and moments arrive at a specified position (an attack target or an aggregation point) at the same moment through cooperative control on the premise of meeting given constraint conditions (threat and obstacle avoidance, body performance limitation, final speed matching and the like). The current common route planning method generally adopts methods such as circle waiting to increase the flight path of the short-range unmanned aerial vehicle, additionally increases the energy consumption of the unmanned aerial vehicle, increases the collision probability and the possibility of discovering enemies due to the change of the route, and is only suitable for task scenes with unadjustable speed and low risk.
Disclosure of Invention
Based on this, it is necessary to provide a coordinated control method for arrival time of multiple drones based on a speed adjustment strategy, which can reduce the additional energy consumption when the drones arrive cooperatively.
A multi-unmanned aerial vehicle arrival time cooperative control method based on a speed regulation strategy comprises the following steps:
and acquiring flight capability parameters and flight state data of each unmanned aerial vehicle to be adjusted. The flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
And obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the corresponding arrival speed value according to a preset target and the arrival speed value of each unmanned aerial vehicle and according to the flight capability parameters of each unmanned aerial vehicle and the flight state data.
And taking the maximum value in the fastest arrival time values of all the unmanned aerial vehicles as a coordinated arrival time value, and obtaining coordinated flight speed control data of all the unmanned aerial vehicles according to the flight capacity parameters and the flight state data, so that all the unmanned aerial vehicles arrive at the target at corresponding arrival speed values at the time corresponding to the coordinated arrival time values under the control of the corresponding coordinated flight speed control data.
In one embodiment, the target is a stationary target. The step of obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to the preset target and the arrival speed value of each unmanned aerial vehicle, and according to the flight capability parameter and the flight state data of each unmanned aerial vehicle comprises the following steps:
and obtaining the airway distance between each unmanned aerial vehicle and the static target according to the position data of each unmanned aerial vehicle and the target.
And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, flight capability parameters, the air route distance and the arrival speed value corresponding to each unmanned aerial vehicle.
In one embodiment, the obtaining of the cooperative airspeed control data includes: and obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capability parameters and flight state data of each unmanned aerial vehicle, the position data of the target and the coordinated arrival time value.
In one embodiment, the acceleration time function of the ith drone is:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity v i For the value of the current speed, it is,
to start accelerated transportThe time of the movement is the time of the movement,
at the moment of starting uniform motion, S i Is the distance of the airway, t T The time corresponding to the fastest arrival time value.
In one embodiment, the target is a moving target. The step of obtaining the fastest arrival time value of each unmanned aerial vehicle at the corresponding arrival speed value to the target according to the preset target and the arrival speed value of each unmanned aerial vehicle, and according to the flight capability parameter and the flight state data of each unmanned aerial vehicle comprises the following steps:
target trajectory prediction data of a moving target is acquired.
And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, flight capability parameters, target track prediction data and arrival speed values corresponding to each unmanned aerial vehicle.
In one embodiment, the obtaining of the cooperative airspeed control data includes:
and obtaining position data of the moving target at the time corresponding to the collaborative arrival time value according to the target trajectory prediction data, and setting collaborative arrival position data according to the obtained position data.
And obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capability parameters and flight state data of each unmanned aerial vehicle, and according to the cooperative arrival position data and the cooperative arrival time value.
In one embodiment, the acceleration time function of the ith drone is:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity v i As the value of the current speed is the current speed,
in order to start the moment of the acceleration movement,
in order to start the moment of uniform motion,
for the route distance from the unmanned aerial vehicle to the coordinated arrival position, Δ t is a preset adjustment time interval, t T The time corresponding to the fastest arrival time value.
A multi-unmanned aerial vehicle arrival time cooperative control device based on a speed regulation strategy comprises:
the unmanned aerial vehicle data acquisition module is used for acquiring flight capability parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
And the fastest arrival time calculation module is used for obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target at the arrival speed value according to a preset target and the arrival speed value of each unmanned aerial vehicle and according to the flight capability parameters and flight state data of each unmanned aerial vehicle.
And the coordinated flight speed control data generation module is used for obtaining coordinated flight speed control data of each unmanned aerial vehicle by taking the maximum value in the fastest arrival time values of each unmanned aerial vehicle as a coordinated arrival time value according to the flight capacity parameter and the flight state data, so that each unmanned aerial vehicle can arrive at the target at a corresponding arrival speed value at a time corresponding to the coordinated arrival time value under the control of the corresponding coordinated flight speed control data.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring flight capacity parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
And obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to a preset target, the arrival speed value of each unmanned aerial vehicle and the flight capability parameters and flight state data of each unmanned aerial vehicle.
And taking the maximum value in the fastest arrival time values of all the unmanned aerial vehicles as a coordinated arrival time value, and obtaining coordinated flight speed control data of all the unmanned aerial vehicles according to the flight capacity parameters and the flight state data, so that all the unmanned aerial vehicles arrive at the target at corresponding arrival speed values at the time corresponding to the coordinated arrival time values under the control of the corresponding coordinated flight speed control data.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring flight capacity parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
And obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to the preset target and the arrival speed value of each unmanned aerial vehicle and the flight capability parameters and flight state data of each unmanned aerial vehicle.
And taking the maximum value in the fastest arrival time values of all the unmanned aerial vehicles as a coordinated arrival time value, and obtaining coordinated flight speed control data of all the unmanned aerial vehicles according to the flight capacity parameters and the flight state data, so that all the unmanned aerial vehicles arrive at the target at corresponding arrival speed values at the time corresponding to the coordinated arrival time values under the control of the corresponding coordinated flight speed control data.
Compared with the prior art, the multi-unmanned aerial vehicle arrival time cooperative control method, the multi-unmanned aerial vehicle arrival time cooperative control device, the computer equipment and the storage medium based on the speed adjustment strategy obtain the shortest time for each unmanned aerial vehicle to arrive at the preset target according to the flight capability and the current flight state of each unmanned aerial vehicle to be adjusted, and plan the speed control scheme of each unmanned aerial vehicle by taking the time when all unmanned aerial vehicles arrive at the target as the cooperative arrival time, so that the unmanned aerial vehicles arrive at the target at the preset speed at the same time. The application has the advantages that the calculation mode is simple, the robustness is good, the calculation amount of the unmanned aerial vehicle can be reduced, the calculation performance requirement and the energy consumption amount are reduced, and the application is suitable for controlling multiple unmanned aerial vehicles to arrive at a single or multiple targets which are static or move simultaneously.
Drawings
Fig. 1 is a diagram illustrating steps of a coordinated control method for arrival times of multiple drones based on a speed adjustment strategy according to an embodiment;
fig. 2 is a schematic flow chart of a cooperative control method for arrival times of multiple drones based on a speed adjustment strategy for a stationary target in one embodiment;
fig. 3 is a schematic diagram illustrating a speed adjustment manner of each drone in one embodiment;
fig. 4 is a schematic flow chart of a coordinated control method for arrival times of multiple drones based on a speed adjustment strategy for a moving target according to another embodiment;
FIG. 5 is a diagram of an application scenario of an embodiment;
fig. 6 is a schematic diagram illustrating a speed adjustment manner of each drone in another embodiment;
FIG. 7 is a diagram of the internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
In one embodiment, as shown in fig. 1, there is provided a method for cooperative control of arrival times of multiple drones based on a speed regulation strategy, including the following steps:
and 102, acquiring flight capability parameters and flight state data of each unmanned aerial vehicle to be adjusted. The flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
Specifically, the flight capability parameter and the current flight state data of each unmanned aerial vehicle to be adjusted are acquired, wherein the flight capability parameter can include the speed range, the acceleration range and the like of the unmanned aerial vehicle, and the current flight state data can include the position and the current speed of the current unmanned aerial vehicle and can also include the current acceleration.
And 104, obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the corresponding arrival speed value according to a preset target and the arrival speed value of each unmanned aerial vehicle, and according to the flight capability parameters of each unmanned aerial vehicle and the flight state data.
And respectively calculating the fastest arrival time value of each unmanned aerial vehicle which arrives at the target fastest along the corresponding air route according to the flight capacity of the unmanned aerial vehicle, the current flight state and the given target, wherein the speed of the unmanned aerial vehicle which arrives at the target is equal to the preset arrival speed.
It should be noted that, when the targets are multiple or have a certain area, the targets can be respectively designated for each unmanned aerial vehicle, and the corresponding fastest arrival time is obtained.
Furthermore, corresponding acceleration/speed value limiting conditions can be set for each unmanned aerial vehicle respectively, and the fastest arrival time of each unmanned aerial vehicle under the constraint of the limiting conditions is calculated.
And 106, taking the maximum value in the fastest arrival time values of all the unmanned aerial vehicles as a coordinated arrival time value, and obtaining coordinated flight speed control data of all the unmanned aerial vehicles according to the flight capacity parameters and the flight state data, so that all the unmanned aerial vehicles arrive at the target at the corresponding arrival speed values at the time corresponding to the coordinated arrival time values under the control of the corresponding coordinated flight speed control data.
And obtaining the longest time required for reaching the target in each unmanned aerial vehicle according to the fastest arrival time obtained in the step 204, and setting the time as the coordinated arrival time. And respectively calculating the speed values of all points on the air path of each unmanned aerial vehicle in the flight process according to the platform parameters, the current flight state and the target position of each unmanned aerial vehicle, so that each unmanned aerial vehicle can reach the target at the moment at the corresponding arrival speed.
It should be noted that, in the present application, an obtaining manner of an airway (i.e., a flight route of the unmanned aerial vehicle) according to which the flight time is calculated may be adjusted according to an environment in which the unmanned aerial vehicle is located: when the environment allows the unmanned aerial vehicle to fly to the target by the straight route, the shortest straight route is adopted; and when the area needing to be bypassed exists in the environment, adjusting according to the bypassing area to obtain the corresponding shortest route. But the unmanned aerial vehicle in this application realizes arriving simultaneously through speed/acceleration adjustment strategy, and not realize arriving simultaneously through increasing the way length.
The calculation mode of this embodiment is simple, the robustness is good, can reduce unmanned aerial vehicle's calculated amount, reduces calculation performance requirement and energy consumption amount to this application is applicable to the single or a plurality of targets that control many unmanned aerial vehicles and arrive static or remove simultaneously.
It should be noted that, in order to enable all the unmanned aerial vehicles to reach the designated position at the same time, the unmanned aerial vehicles may be grouped, and each group of unmanned aerial vehicles respectively adopts different speed adjustment methods. For example, the unmanned aerial vehicles are divided into two groups, and one group adopts the method provided by the application to set a speed adjustment strategy, for example, the unmanned aerial vehicles are uniformly accelerated to a specified arrival speed and then keep moving at a constant speed in the process; and the other group is provided with other speed regulation strategies, such as executing other speed regulation actions after the economical cruise speed is firstly reduced, delaying the starting acceleration moment, accelerating below the maximum acceleration and the like. By the mode, the unmanned aerial vehicles can be ensured to simultaneously reach the designated positions by adjusting the speed without winding according to the difference of different unmanned aerial vehicles in the range of the air route length and/or the flying speed (acceleration).
In one embodiment, as shown in fig. 2, there is provided a method for cooperative control of arrival times of multiple drones based on a speed adjustment strategy for a stationary target, including the following steps:
step 202, acquiring flight capability parameters and flight state data of each unmanned aerial vehicle to be adjusted. The flight capability parameters include speed parameters of the drone, and the flight status data includes current position data and speed data of the drone.
And 204, obtaining the airway distance between each unmanned aerial vehicle and the static target according to the position data of each unmanned aerial vehicle and the target.
And step 206, obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the corresponding flight state data, flight capability parameters, route distance and arrival speed value of each unmanned aerial vehicle.
And calculating the route distance from each unmanned aerial vehicle to the target, and calculating the fastest arrival time of each unmanned aerial vehicle according to the specified arrival speed and the maximum acceleration of each unmanned aerial vehicle.
And 208, taking the maximum value of the fastest arrival time values of all the unmanned aerial vehicles as a coordinated arrival time value, and obtaining an acceleration time function of the ith unmanned aerial vehicle as follows according to the flight capability parameters and the flight state data of all the unmanned aerial vehicles, the position data of the target and the coordinated arrival time value:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity v i For the value of the current speed, it is,
in order to start the moment of the acceleration movement,
at the moment of starting uniform motion, S i Is the distance of the flight path, t T The time corresponding to the fastest arrival time value.
Specifically, the present embodiment adopts an acceleration time function to provide a speed adjustment strategy for each unmanned aerial vehicle, and obtains the speed of the unmanned aerial vehicle at each moment, and the uniform motion time interval, the acceleration magnitude, and the like of the unmanned aerial vehicle according to the acceleration time function. And when the unmanned aerial vehicle reaches the target, ending the control process.
Let the takeoff time of the ith unmanned aerial vehicle be t i (i =1, 2.. Eta., n), at t (t ≧ t n ) Velocity at time v i Maximum acceleration of
Assigned arrival speed of
In the embodiment, when the speed of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle is accelerated to the maximum acceleration firstly
Then keeping the speed flying to the end point, i.e.
Wherein the content of the first and second substances,
and
the time when the unmanned aerial vehicle starts to do uniform acceleration motion (starts to execute the speed regulation strategy) and the time when the unmanned aerial vehicle starts to do uniform motion are respectively. Recording the route distances from all unmanned aerial vehicles to the target at the current moment as S i Then the shortest arrival time of each unmanned aerial vehicle
The following relationships exist:
further, it is possible to obtain:
coordinated arrival time values for each unmanned aerial vehicle
Then to the ith unmanned aerial vehicle, have:
wherein, a i Is the desired acceleration of drone i. By combining the upper formula, the speed adjustment strategy of the ith unmanned aerial vehicle is obtained as follows:
the corresponding speed variation relationship is:
the speed adjustment mode of each drone is shown in fig. 3.
In one embodiment, as shown in fig. 4, there is provided a method for cooperative control of arrival times of multiple drones for a moving target based on a speed adjustment strategy, including the following steps:
and 402, acquiring flight capability parameters and flight state data of each unmanned aerial vehicle to be adjusted. The flight capability parameters include speed parameters of the drone, and the flight status data includes current position data and speed data of the drone.
In step 404, target trajectory prediction data of the moving target is obtained.
Specifically, in order to improve the accuracy of the target position prediction in the embodiment, the position of the target is periodically estimated at the preset adjustment time interval Δ t, instead of predicting the trajectory data of the target during the flight of the unmanned aerial vehicle from the initial target data.
And 406, obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, the flight capability parameters, the target trajectory prediction data and the arrival speed value corresponding to each unmanned aerial vehicle.
And step 408, obtaining position data of the moving target at the time corresponding to the collaborative arrival time value according to the target trajectory prediction data, and setting collaborative arrival position data according to the obtained position data.
Step 410, taking the maximum value of the fastest arrival time values of each unmanned aerial vehicle as a coordinated arrival time value, and obtaining the acceleration time function of the ith unmanned aerial vehicle as follows according to the flight capability parameters and flight state data of each unmanned aerial vehicle, and according to the coordinated arrival position data and the coordinated arrival time value:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i For the value of the current speed, it is,
in order to start the moment of the acceleration movement,
in order to start the moment of uniform motion,
distance, t, from the drone to the cooperative arrival location T The time corresponding to the fastest arrival time value.
Specifically, as shown in fig. 5, the target position at time t is set to (x) 0 (t),y 0 (t)), the instantaneous speed is
The updating time interval of the position information of the target is delta t, and the coordinate of the ith unmanned aerial vehicle is (x) i (t),y i (t)). Note the book
For the route distance of each unmanned aerial vehicle to the target estimated position at the next moment, for simplifying the operation, the target speed is considered to be kept unchanged within the time of delta t, namely:
according to the calculation process, the unmanned aerial vehicle speed adjustment strategy when the target moves is obtained as follows:
the speed adjustment of each drone is shown in fig. 6.
The embodiment estimates the position of the target at the next moment according to the current position data of the target, and the position is used as the calculation basis of the speed adjustment strategy of each unmanned aerial vehicle. Compared with the method for directly predicting the movement track of the target before the unmanned aerial vehicle arrives, iterative updating and rolling optimization are carried out on the target position and the unmanned aerial vehicle speed adjusting strategy through setting time intervals, and the error of target position prediction can be reduced, so that the accuracy and flexibility of the speed adjusting strategy in control are improved, and the method is suitable for targets with complex tracks.
Further, when the trajectory is predicted, data such as the type and the motion characteristics of the target can be obtained (including statistics and estimation) according to the obtained target observation data, so that the motion capability parameter ranges of the target, such as the speed range, the acceleration range and the turning radius, can be predicted better, and the aerial target can also comprise parameters such as climbing/descending capability. And the motion trail of the target is better estimated according to the data.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, a multi-drone arrival time cooperative control device based on a speed regulation strategy is provided, which includes:
the unmanned aerial vehicle data acquisition module is used for acquiring flight capability parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
And the fastest arrival time calculation module is used for obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target at the arrival speed value according to a preset target and the arrival speed value of each unmanned aerial vehicle and according to the flight capability parameters and flight state data of each unmanned aerial vehicle.
And the coordinated flight speed control data generation module is used for obtaining coordinated flight speed control data of each unmanned aerial vehicle by taking the maximum value in the fastest arrival time values of each unmanned aerial vehicle as a coordinated arrival time value according to the flight capacity parameter and the flight state data, so that each unmanned aerial vehicle can arrive at the target at a corresponding arrival speed value at a time corresponding to the coordinated arrival time value under the control of the corresponding coordinated flight speed control data.
In one embodiment, the target is a stationary target. And the fastest arrival time calculation module is used for obtaining the route distance between each unmanned aerial vehicle and the static target according to the position data of each unmanned aerial vehicle and the target. And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, the flight capability parameters, the air route distance and the arrival speed value corresponding to each unmanned aerial vehicle.
In one embodiment, the cooperative flight speed control data generation module is configured to obtain an acceleration time function of each unmanned aerial vehicle according to the flight capability parameter and the flight state data of each unmanned aerial vehicle, and according to the position data of the target and the cooperative arrival time value.
In one embodiment, the acceleration time function of the ith drone is:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i As the value of the current speed is the current speed,
in order to start the moment of the acceleration movement,
at the moment of starting uniform motion, S i Is the distance of the airway, t T The time corresponding to the fastest arrival time value.
In one embodiment, the target is a moving target. The fastest arrival time calculation module is used for acquiring target trajectory prediction data of the moving target. And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, flight capability parameters, target track prediction data and arrival speed values corresponding to each unmanned aerial vehicle.
In one embodiment, the cooperative flight speed control data generation module is configured to obtain position data of the moving target at a time corresponding to the cooperative arrival time value according to the target trajectory prediction data, and set cooperative arrival position data according to the obtained position data. And obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capability parameters and flight state data of each unmanned aerial vehicle, and according to the cooperative arrival position data and the cooperative arrival time value.
In one embodiment, the acceleration time function of the ith drone is:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i As the value of the current speed is the current speed,
in order to start the moment of the acceleration movement,
at the moment of starting the uniform motion,
for the route distance from the unmanned aerial vehicle to the coordinated arrival position, Δ t is a preset adjustment time interval, t T The time corresponding to the fastest arrival time value.
For specific definition of the multi-drone arrival time cooperative control device based on the speed adjustment strategy, reference may be made to the above definition of the multi-drone arrival time cooperative control method based on the speed adjustment strategy, which is not described herein again. The modules in the coordinated control device for the arrival time of multiple unmanned aerial vehicles based on the speed regulation strategy can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer equipment is used for storing flight capability parameters and flight state data of all the unmanned aerial vehicles, target data and arrival speed data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a coordinated control method of arrival time of multiple unmanned aerial vehicles based on a speed regulation strategy.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
acquiring flight capacity parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
And obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to the preset target and the arrival speed value of each unmanned aerial vehicle and the flight capability parameters and flight state data of each unmanned aerial vehicle.
And taking the maximum value in the fastest arrival time values of all the unmanned aerial vehicles as a coordinated arrival time value, and obtaining coordinated flight speed control data of all the unmanned aerial vehicles according to the flight capacity parameters and the flight state data, so that all the unmanned aerial vehicles arrive at the target at corresponding arrival speed values at the time corresponding to the coordinated arrival time values under the control of the corresponding coordinated flight speed control data.
In one embodiment, the target is a stationary target. The processor when executing the computer program further realizes the following steps: and obtaining the airway distance between each unmanned aerial vehicle and the static target according to the position data of each unmanned aerial vehicle and the target. And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, the flight capability parameters, the air route distance and the arrival speed value corresponding to each unmanned aerial vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capability parameters and flight state data of each unmanned aerial vehicle, the position data of the target and the coordinated arrival time value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: obtaining an acceleration time function of the ith unmanned aerial vehicle as follows:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i For the value of the current speed, it is,
in order to start the moment of the acceleration movement,
at the moment of starting uniform motion, S i Is the distance of the flight path, t T The time corresponding to the fastest arrival time value.
In one embodiment, the target is a moving target. The processor, when executing the computer program, further performs the steps of: target trajectory prediction data of a moving target is acquired. And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, flight capability parameters, target track prediction data and arrival speed values corresponding to each unmanned aerial vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and obtaining position data of the moving target at the time corresponding to the collaborative arrival time value according to the target trajectory prediction data, and setting collaborative arrival position data according to the obtained position data. And obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capability parameters and flight state data of each unmanned aerial vehicle, and according to the cooperative arrival position data and the cooperative arrival time value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: obtaining the acceleration time function of the ith unmanned aerial vehicle as follows:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i For the value of the current speed, it is,
in order to start the moment of the acceleration movement,
at the moment of starting the uniform motion,
for the route distance from the unmanned aerial vehicle to the coordinated arrival position, Δ t is a preset adjustment time interval, t T The time corresponding to the fastest arrival time value.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of:
acquiring flight capacity parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters comprise speed parameters of the drone, and the flight status data comprise current position data and speed data of the drone.
And obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to a preset target, the arrival speed value of each unmanned aerial vehicle and the flight capability parameters and flight state data of each unmanned aerial vehicle.
And taking the maximum value in the fastest arrival time values of all the unmanned aerial vehicles as a coordinated arrival time value, and obtaining coordinated flight speed control data of all the unmanned aerial vehicles according to the flight capacity parameters and the flight state data, so that all the unmanned aerial vehicles arrive at the target at corresponding arrival speed values at the time corresponding to the coordinated arrival time values under the control of the corresponding coordinated flight speed control data.
In one embodiment, the target is a stationary target. The computer program when executed by the processor further realizes the steps of: and obtaining the airway distance between each unmanned aerial vehicle and the static target according to the position data of each unmanned aerial vehicle and the target. And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, flight capability parameters, the air route distance and the arrival speed value corresponding to each unmanned aerial vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: and obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capability parameters and flight state data of each unmanned aerial vehicle, the position data of the target and the coordinated arrival time value.
In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining an acceleration time function of the ith unmanned aerial vehicle as follows:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i As the value of the current speed is the current speed,
in order to start the moment of the acceleration movement,
at the moment of starting uniform motion, S i Is the distance of the flight path, t T The time corresponding to the fastest arrival time value.
In one embodiment, the target is a moving target. The computer program when executed by the processor further realizes the steps of: target trajectory prediction data of a moving target is acquired. And obtaining the fastest arrival time value of each unmanned aerial vehicle for reaching the target according to the flight state data, the flight capability parameters, the target track prediction data and the arrival speed value corresponding to each unmanned aerial vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: and obtaining position data of the moving target at the time corresponding to the collaborative arrival time value according to the target trajectory prediction data, and setting collaborative arrival position data according to the obtained position data. And obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capability parameters and flight state data of each unmanned aerial vehicle, and according to the cooperative arrival position data and the cooperative arrival time value.
In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining the acceleration time function of the ith unmanned aerial vehicle as follows:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity v i As the value of the current speed is the current speed,
in order to start the moment of the acceleration movement,
in order to start the moment of uniform motion,
for the route distance from the unmanned aerial vehicle to the coordinated arrival position, Δ t is a preset adjustment time interval, t T The time corresponding to the fastest arrival time value.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (7)
1. A multi-unmanned aerial vehicle arrival time cooperative control method based on a speed regulation strategy is characterized by comprising the following steps:
acquiring flight capacity parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capability parameters comprise speed parameters of the unmanned aerial vehicle, and the flight state data comprise current position data and speed data of the unmanned aerial vehicle;
according to a preset target and the arrival speed values of all the unmanned aerial vehicles, and according to the flight capacity parameters and the flight state data of all the unmanned aerial vehicles, obtaining the fastest arrival time value of all the unmanned aerial vehicles reaching the target at the arrival speed values;
obtaining cooperative flight speed control data of each unmanned aerial vehicle according to the flight capability parameter and the flight state data by taking the maximum value in the fastest arrival time values of each unmanned aerial vehicle as a cooperative arrival time value, so that each unmanned aerial vehicle can arrive at the target at the corresponding arrival speed value at the moment corresponding to the cooperative arrival time value under the control of the corresponding cooperative flight speed control data;
the target is a stationary target;
the step of obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to a preset target and the arrival speed value of each unmanned aerial vehicle, and according to the flight capability parameter and the flight state data of each unmanned aerial vehicle comprises:
obtaining the route distance between each unmanned aerial vehicle and the static target according to the position data of each unmanned aerial vehicle and the target;
obtaining the fastest arrival time value of each unmanned aerial vehicle at the target according to the flight state data, the flight capacity parameter, the route distance and the arrival speed value corresponding to each unmanned aerial vehicle;
the acquiring mode of the coordinated flight speed control data comprises the following steps:
obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capacity parameters and the flight state data of each unmanned aerial vehicle, the position data of the target and the coordinated arrival time value;
the acceleration time function of the ith unmanned aerial vehicle is as follows:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i For the value of the current speed, it is,
in order to start the moment of the acceleration movement,
at the moment of starting uniform motion, S i Is the distance of the airway, t T The time corresponding to the fastest arrival time value.
2. The method of claim 1, wherein the target is a moving target;
the step of obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to a preset target and the arrival speed value of each unmanned aerial vehicle, and according to the flight capability parameter and the flight state data of each unmanned aerial vehicle comprises:
acquiring target track prediction data of the moving target;
and obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target according to the flight state data, the flight capability parameter, the target track prediction data and the arrival speed value corresponding to each unmanned aerial vehicle.
3. The method of claim 2, wherein the obtaining of the coordinated airspeed control data comprises:
obtaining position data of the moving target at the corresponding moment of the collaborative arrival time value according to the target trajectory prediction data, and setting collaborative arrival position data according to the obtained position data;
and obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capacity parameters and the flight state data of each unmanned aerial vehicle, and according to the cooperative arrival position data and the cooperative arrival time value.
4. The method of claim 3, wherein the acceleration time function of the ith drone is:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity, v i As the value of the current speed is the current speed,
in order to start the moment of the acceleration movement,
at the moment of starting the uniform motion,
for the route distance from the unmanned aerial vehicle to the coordinated arrival position, Δ t is a preset adjustment time interval, t T The time corresponding to the fastest arrival time value.
5. A coordinated control device for arrival time of multiple unmanned aerial vehicles based on a speed regulation strategy is characterized in that the device comprises:
the unmanned aerial vehicle data acquisition module is used for acquiring flight capability parameters and flight state data of each unmanned aerial vehicle to be adjusted; the flight capacity parameters comprise speed parameters of the unmanned aerial vehicle, and the flight state data comprise current position data and speed data of the unmanned aerial vehicle;
the fastest arrival time calculation module is used for obtaining the fastest arrival time value of each unmanned aerial vehicle reaching the target at the arrival speed value according to a preset target and the arrival speed value of each unmanned aerial vehicle, and according to the flight capability parameter and the flight state data of each unmanned aerial vehicle;
a coordinated flight speed control data generation module, configured to obtain coordinated flight speed control data of each unmanned aerial vehicle according to the flight capability parameter and the flight state data by using a maximum value of the fastest arrival time values of each unmanned aerial vehicle as a coordinated arrival time value, so that each unmanned aerial vehicle arrives at the target at a corresponding arrival speed value at a time corresponding to the coordinated arrival time value under control of the corresponding coordinated flight speed control data;
the fastest arrival time calculation module is also used for obtaining the route distance between each unmanned aerial vehicle and the static target according to the position data of each unmanned aerial vehicle and the target; obtaining the fastest arrival time value of each unmanned aerial vehicle at the target according to the flight state data, the flight capacity parameter, the route distance and the arrival speed value corresponding to each unmanned aerial vehicle; the target is the stationary target;
the coordinated flight speed control data generation module is further used for obtaining an acceleration time function of each unmanned aerial vehicle according to the flight capacity parameters and the flight state data of each unmanned aerial vehicle, the position data of the target and the coordinated arrival time value;
the acceleration time function of the ith unmanned aerial vehicle is as follows:
wherein, a i (t) is a function of acceleration time,
for a predetermined value of the arrival velocity v i For the value of the current speed, it is,
in order to start the moment of the acceleration movement,
at the moment of starting uniform motion, S i Is the distance of the airway, t T The time corresponding to the fastest arrival time value.
6. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 4 when executing the computer program.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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