CN113433960A - Fixed wing cluster formation generation method - Google Patents
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Abstract
The invention discloses a fixed wing cluster formation generation method. Calculating a Dubins curve as an optimal Dubins path according to the current pose, the meeting point pose and the minimum turning radius of each fixed wing, and determining the length of a reference equal-length path and the reference fixed wing according to the length of the longest optimal Dubins path; searching the optimal Dubins paths of the rest fixed wings to reach the optimal radius of the reference equal-length path length so as to replace the minimum turning radius of the fixed wings to obtain the optimal Dubins paths again; and controlling to fly along the optimal Dubins path to reach the meeting point through the ground speed controller. The invention can carry out planning rapidly, realizes flight control on a platform with limited computing resources, reduces the pressure of fixed wing speed distribution by arranging the equal-length path and the ground speed controller, controls the ground speed of the fixed wings to be uniform and better realizes the formation of fixed wing cluster formation.
Description
Technical Field
The invention belongs to a flight control method of a fixed-wing unmanned aerial vehicle in the technical field of unmanned aerial vehicles, and particularly relates to a method for planning a collaborative path of the fixed-wing unmanned aerial vehicle by using ground speed distribution and an equal-length Dubins algorithm.
Background
With the development of unmanned aerial vehicle technology, the fixed wing formation plays more and more roles in battle. Compared with a single unmanned aerial vehicle, the integrity of the fixed wing formation for executing tasks such as cooperative detection, reconnaissance, battle and the like is greatly improved.
And formation generation is an important link in the fixed-wing cluster. In the process of generating the formation of the fixed wing, the fixed wing generally faces the problems of disturbance of wind speed, speed drop, dynamic constraint and the like, so that no better solution is available for the problem of generating the formation of the unmanned aerial vehicles.
Disclosure of Invention
The invention aims to solve the technical problem that the path of a fixed wing cluster is rapidly planned under the constraint of limited platform computing resources, wind speed disturbance and dynamics, and the speed is dynamically distributed along the path to realize the formation of the fixed wing cluster.
In order to overcome the problems, the invention provides a method for realizing formation of a fixed wing cluster formation by using speed distribution and an equal-length Dubins algorithm.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
step S1: acquiring the current pose P of each fixed wing in real timesSetting the meeting point pose P of each fixed wing on the fixed wing clusterf(ii) a The pose includes a position and a posture.
Step S2: setting a Dubins path calculation module according to the current pose P of each fixed wingsAnd meeting point pose PfAnd a turning radius section [ R ] of the fixed wingMIN，RMAX]，RMINIndicating minimum turning radius of the fixed wing, RMAXThe maximum turning radius of the fixed wing is represented, and the current pose P of the fixed wing is calculated by a Dubins path calculation modulesMeeting point position PfThe Dubins curve between the two is used as the optimal Dubins path of the fixed wing, the length of the longest optimal Dubins path in the optimal Dubins paths of all the fixed wings is selected as the length of a reference equal-length path, and the fixed wing corresponding to the length of the reference equal-length path is used as a reference fixed wing;
step S3: in the Dubins path calculation module, the interval [ R ] is calculated according to the turning radius of the fixed wingMIN，RMAX]And the length of the reference equal length path, searching and obtaining the optimal radius R required by the optimal Dubins path of each remaining fixed wing except the reference fixed wing to reach the length of the reference equal length path under different Dubins curve types*With an optimum radius R*Replace the fixed wingMinor turning radius RMINReturning to the step S2 to obtain the optimal Dubins paths of the remaining fixed wings again;
therefore, the optimal Dubins path of the reference fixed wing is kept unchanged all the time, and the optimal Dubins paths of the rest fixed wings are optimized and reset.
Step S4: the ground speed of each fixed wing is set to be the same, and each fixed wing is controlled to fly and move along the optimal Dubins path of the fixed wing through a ground speed controller, so that all the fixed wings can be kept to reach the meeting point of the fixed wing cluster at the same time.
According to the invention, each fixed wing cluster is arranged to fly on an overhead plane parallel to the ground, the fixed wings perform cluster formation generation on the plane at the same flying height, and the plane at the flying height is provided with no barrier.
In step S3, a constraint condition is set:
|Dubins(R*,Mode)-Lref|＜＝1m
wherein Dubins () represents the Dubins function, Mode represents the Dubins curve type, LrefIndicating the length of the reference isometric path.
In step S3, the maximum turning radius R of the fixed bladeMAXThe following formula is used to set:
in the Dubins path calculation module of step S3, the turning radius section [ R ] of the stationary blade is inputMIN，RMAX]Under different Dubins curve types, the two-component search method is adopted to search in the turning radius interval [ R ]MIN，RMAX]Changing the turning radius R within the range to reach the length of the reference equal-length path, searching from various acquired Dubins curves, taking the Dubins curve with the smallest turning radius R and without mutual intersection between the fixed wings as the optimal Dubins path, and taking the turning radius R of the optimal Dubins path as the optimal radius R of the fixed wings*The type of the optimal Dubins path is taken as the Dubins curve type of the stationary vane.
The ground speed controller is used for controlling each fixed wing to fly and move along the optimal Dubins path of the fixed wing, and the method specifically comprises the following steps:
actual ground speed v through the fixed winggAnd the desired ground speed v of the fixed wing inputted from the outsidegrefSubtracting to obtain ground speed deviation e, and superposing the ground speed deviation e on the actual airspeed v of the fixed wing after the ground speed deviation e is subjected to PD control operation processingaAnd then outputs the desired airspeed v as a fixed wingarefThe airspeed controller is sent to the fixed wing;
the ground speed controller is established and expressed as:
e＝vg-vgref
in the formula, vgRepresenting the actual ground speed, v, of the fixed winggrefRepresenting the desired ground speed, v, of the fixed wingarefRepresenting the desired airspeed, v, of the fixed wingaRepresenting the actual airspeed of the fixed wing, e represents the deviation in ground speed,
the derivative of the ground speed deviation e is represented, P represents the proportional coefficient of the PD controller, and D represents the differential coefficient of the PD controller.
The airspeed controller of the fixed wing is based on the expected airspeed v of the fixed wingarefCombined with actual airspeed v of the fixed wingaAnd processing and outputting a speed control quantity, and after the speed control quantity is superposed with the wind speed interference quantity, sending the speed control quantity to the fixed wing to control the flight speed.
In the invention, the ground speed is relative to the ground, and the airspeed is relative to the air.
Common fixed wing unmanned aerial vehicle all adopts the airspeed to carry out flight control, and fixed wing control speed is the airspeed, and the groundspeed can receive the interference of wind speed, can bring the airspeed of control and the ground speed nonconformity of expectation like this, leads to the problem that fixed wing cluster formation can not generate simultaneously.
Therefore, the invention adds the ground speed controller to control the flight on the basis of controlling the flight of the fixed wings by the existing airspeed controller, and the speed controller adopting the method can maintain the same actual ground speed of the fixed wings, keep accurate formation of the fixed wing cluster formation, and have the advantages of small calculated amount, easy deployment on embedded equipment and the like.
The technical scheme provided by the invention brings the following benefits:
compared with other algorithms, the equal-length Dubins path realized by the binary search method has the advantages that the time complexity is only Log (n) and the equal-length Dubins path can be operated on the embedded equipment without pressure. The equal-length Dubins path planning is realized by utilizing a binary search method, the planning can be quickly carried out, and the algorithm can be realized on a platform with limited computing resources.
Because the speed change range on the fixed wing is limited, the equal-length path planning further reduces the difficulty of speed distribution.
According to the invention, the ground speed controller is additionally constructed to control the ground speed of the fixed wings to be uniform, so that the formation of the fixed wing cluster formation can be realized, and the influence of wind speed interference on the formation of the unmanned aerial vehicle formation is further eliminated.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of a Dubins curve type;
FIG. 3 is a block diagram of a ground speed controller;
FIG. 4 is a block diagram of a binary search algorithm;
FIG. 5 is a schematic diagram of a binary search method module;
FIG. 6 is a schematic diagram of the path generated by the Dubins algorithm;
FIG. 7 is a schematic diagram of the paths generated by the equal length Dubins algorithm;
FIG. 8 is a graph of path length statistics generated by the Dubins algorithm;
FIG. 9 is a graph of path length statistics generated by the equal length Dubins algorithm;
FIG. 10 is an effect diagram of the cluster formation generation realized without the ground speed controller;
FIG. 11 is a diagram illustrating the effect of the ground speed controller in generating the cluster formation.
Detailed Description
The specific working process of the invention is further explained in detail in the following with the attached drawings of the specification.
As shown in fig. 1, the embodiment of the present invention and its implementation are as follows:
step S1: obtaining the current pose P of each fixed wingsAnd setting the meeting point pose P of each unmanned aerial vehicle on the fixed wing clusterf：
Ps(xs,ys,zs,χs)
Pf(xf,yf,zf,χf)
Wherein x, y and z represent three-axis direction coordinates in a northeast navigation coordinate system, and x represents a heading angle of the fixed wing.
Obtaining the minimum turning radius R of the fixed wing according to the self-attribute of the fixed wing by knowing in advanceMINPresetting the maximum turning radius R of the fixed wingMAXConstruction of the turning radius section [ R ] of the fixed wingMIN，RMAX]。
Step S2: setting a Dubins path calculation module, and obtaining the current pose P of each fixed wing according to the step S1sAnd meeting point pose PfAnd a turning radius section [ R ] of the fixed wingMIN，RMAX]，RMINIndicating minimum turning radius of the fixed wing, RMAXThe maximum turning radius of the fixed wing is represented, and the current pose P of the fixed wing is calculated by a Dubins path calculation modulesMeeting point position PfThe Dubins curve between the two is used as the optimal Dubins path of the fixed wing, namely the shortest Dubins curve is selected as the optimal Dubins path.
As shown in fig. 2, the Dubins path consists of a starting arc, a straight line, and a terminating arc. There are generally four Dubins types: LSL, LSR, RSL, RSR. In specific implementation, the Dubins path algorithm calculates the respective corresponding lengths of the four types LSL, LSR, RSL, RSR, and selects the one with the shortest length of the Dubins curve among the four types as the optimal Dubins path.
Then, selecting the length of the longest optimal Dubins path in the optimal Dubins paths of all the fixed wings as a reference equal length path length, taking the optimal Dubins path corresponding to the reference equal length path length as a reference equal length path, and taking the fixed wing corresponding to the reference equal length path length as a reference fixed wing;
multiple fixing wings form multiple optimal Dubins paths with different lengths, and the length set { l ] of the generated optimal Dubins paths of all the fixing wings can be represented by one sequence1,l2,…,ln},lnThe nth fixed wing generates the length of the shortest Dubins path, and the length L of the longest optimal Dubins path is selectedref＝MAX{l1,l2,…,lnEqual length path length as a reference.
Step S3: in the Dubins path calculating module, the turning radius interval [ R ] of the fixed wing is inputMIN，RMAX]And the length of the reference equal length path, and searching and obtaining the optimal radius R required by the reference equal length path length of the optimal Dubins paths of the rest fixed wings except the reference fixed wing under different Dubins curve types through a binary search algorithm*With an optimum radius R*Minimum turning radius R of substitute fixed wingMINReturning to the step S2 to obtain the optimal Dubins paths of the remaining fixed wings again; to achieve the goal of all Dubins path lengths being equal.
As shown in FIG. 5, in the Dubins path calculating module of step S3, the turning radius section [ R ] of the fixed blade is inputMIN，RMAX]Under different Dubins curve types, the two-component search method is adopted to search in the turning radius interval [ R ]MIN，RMAX]Changing the turning radius R within the range to reach the length of the reference equal-length path, searching from various acquired Dubins curves, taking the Dubins curve with the smallest turning radius R and without mutual intersection between the fixed wings as the optimal Dubins path, and taking the turning radius R of the optimal Dubins path as the optimal radius R of the fixed wings*The type of the optimal Dubins path is taken as the Dubins curve type of the stationary vane.
As shown in fig. 4In a concrete embodiment, first, a turning radius section [ R ] of a turning radius R is setMIN，RMAX]And Dubins curve type Mode. Then, the turning radius section [ R ] of the turning radius R is takenMIN，RMAX]Median value of RmidThe length of the Dubins curve is calculated and compared to the length of the reference equal length path. If the difference is less than or equal to 1m, the median is taken as the optimal radius R of the Dubins path of the unmanned aerial vehicle*(ii) a And if the difference is more than or equal to 1m, updating the range of the R interval, and continuously repeating until the constraint condition is reached.
Setting a constraint condition:
|Dubins(R*,Mode)-Lref|＜＝1m
wherein Dubins () represents the Dubins function, Mode represents the Dubins curve type, LrefRepresenting the length of the reference equal length path, Mode is one of the Dubins curve type sequences { LSL, LSR, RSL, RSR }. LSL means consisting of a left-hand arc, a straight line and a left-hand arc, LSR means consisting of a left-hand arc, a straight line and a right-hand arc, RSR means consisting of a right-hand arc, a straight line and a right-hand arc, RSL means consisting of a right-hand arc, a straight line and a left-hand arc, as shown in fig. 2.
If the starting pose and the ending pose are known, namely the current pose PsMeeting point position PfAs is known, the length of the Dubins curve depends only on the radius R and the Dubins curve type Mode. Therefore, the Dubins curve with the minimum turning radius R and without mutual intersection between the fixed wings can be found as the optimal Dubins path under the constraint condition.
Step S4: the ground speed of each fixed wing is set to be the same, and each fixed wing is controlled to fly and move along the optimal Dubins path of the fixed wing through a ground speed controller, so that all the fixed wings can be kept to reach the meeting point of the fixed wing cluster at the same time.
As shown in fig. 3, using the deviation of the actual ground speed from the desired ground speed, a speed increment is derived from the PD control to compensate for the disturbance of wind speed between airspeed and ground speed, and the actual airspeed is added as a feed forward to speed up the controller response.
Acquired by sensors on the fixed wing itselfActual ground speed vgAnd the desired ground speed v of the fixed wing inputted from the outsidegrefSubtracting to obtain ground speed deviation e, and superposing the ground speed deviation e on an actual airspeed v acquired and detected by a sensor on the fixed wing after the ground speed deviation e is subjected to PD control operation processingaAnd then outputs the desired airspeed v as a fixed wingarefThe airspeed controller is sent to the fixed wing; expressed as:
e＝vg-vgref
in the formula, vgRepresenting the actual ground speed, v, of the fixed winggrefRepresenting the desired ground speed, v, of the fixed wingarefRepresenting the desired airspeed, v, of the fixed wingaRepresenting the actual airspeed of the fixed wing, e represents the deviation in ground speed,
the derivative of the ground speed deviation e is represented, P represents the proportional coefficient of the PD controller, and D represents the differential coefficient of the PD controller.
The airspeed controller of the fixed wing is based on the desired airspeed v of the fixed wingarefCombined with actual airspeed v of the fixed wingaAnd processing and outputting a speed control quantity, and after the speed control quantity is superposed with the wind speed interference quantity acquired and detected by a sensor of the fixed wing, sending the wind speed interference quantity to the fixed wing to control the flying speed.
In order to verify the feasibility, the method of the invention utilizes Matlab to simulate and adds various disturbances to increase the reliability of the simulation.
And (4) randomly initializing three fixed-wing unmanned aerial vehicles, and randomly setting a meeting point of cluster formation.
The results before the Dubins path computation module of the present invention is not used and the results of the three fixed-wing flight paths after the Dubins path computation module of the present invention is used are shown in fig. 6 and 8, respectively.
The results before the Dubins path computation module of the present invention is not used and the lengths of the three fixed-wing flight paths after the Dubins path computation module of the present invention is used are shown in fig. 7 and 9, respectively.
The result shows that the invention can realize the purpose of equal length of the Dubins paths.
As shown in fig. 10 and 11, the line in the figure is a fixed-wing flight path, and the three airplane shape positions at the tail end are the meeting point positions. As shown in fig. 10, without the ground speed controller, it is not possible to reach the fixed-wing cluster convergence point for each drone at the same time. As shown in fig. 11, after the ground speed controller is added, each drone can reach the fixed-wing cluster meeting point at the same time.
Claims (6)
1. A fixed wing cluster formation generation method is characterized by comprising the following steps: the method specifically comprises the following steps:
step S1: acquiring the current pose P of each fixed wing in real timesSetting the meeting point pose P of each fixed wing on the fixed wing clusterf；
Step S2: setting a Dubins path calculation module according to the current pose P of each fixed wingsAnd meeting point pose PfAnd a turning radius section [ R ] of the fixed wingMIN，RMAX]，RMINIndicating minimum turning radius of the fixed wing, RMAXThe maximum turning radius of the fixed wing is represented, and the current pose P of the fixed wing is calculated by a Dubins path calculation modulesMeeting point position PfThe Dubins curve between the two is used as the optimal Dubins path of the fixed wing, the length of the longest optimal Dubins path in the optimal Dubins paths of all the fixed wings is selected as the length of a reference equal-length path, and the fixed wing corresponding to the length of the reference equal-length path is used as a reference fixed wing;
step S3: in the Dubins path calculation module, the interval [ R ] is calculated according to the turning radius of the fixed wingMIN，RMAX]And the length of the reference equal length path, searching and obtaining the optimal radius R required by the optimal Dubins path of each remaining fixed wing except the reference fixed wing to reach the length of the reference equal length path under different Dubins curve types*With an optimum radius R*Minimum turning radius R of substitute fixed wingMINGo back to step S2 to retrieve the remaining onesThe optimal Dubins path of each fixed wing;
step S4: the ground speed of each fixed wing is set to be the same, and each fixed wing is controlled to fly and move along the optimal Dubins path of the fixed wing through a ground speed controller, so that all the fixed wings reach the meeting point of the fixed wing clusters at the same time.
2. The method for generating the formation of the fixed-wing cluster formation by using the ground speed control and the equal-length Dubins algorithm according to claim 1, wherein the method comprises the following steps: in step S3, a constraint condition is set:
|Dubins(R*,Mode)-Lref|＜＝1m
wherein Dubins () represents the Dubins function, Mode represents the Dubins curve type, LrefIndicating the length of the reference isometric path.
3. The method for generating the formation of the fixed-wing cluster formation by using the ground speed control and the equal-length Dubins algorithm according to claim 1, wherein the method comprises the following steps: in step S3, the maximum turning radius R of the fixed bladeMAXThe following formula is used to set:
4. the method for generating the formation of the fixed-wing cluster formation by using the ground speed control and the equal-length Dubins algorithm according to claim 1, wherein the method comprises the following steps: in the Dubins path calculation module of step S3, the turning radius section [ R ] of the stationary blade is inputMIN，RMAX]Under different Dubins curve types, the two-component search method is adopted to search in the turning radius interval [ R ]MIN，RMAX]Changing the turning radius R within the range to reach the length of the reference equal-length path, searching from various acquired Dubins curves, taking the Dubins curve with the smallest turning radius R and without mutual intersection between the fixed wings as the optimal Dubins path, and taking the turning radius R of the optimal Dubins path as the optimal radius R of the fixed wings*The type of the optimal Dubins path is taken as the Dubins curve type of the stationary vane.
5. The method for generating the formation of the fixed-wing cluster formation by using the ground speed control and the equal-length Dubins algorithm according to claim 1, wherein the method comprises the following steps: the ground speed controller is used for controlling each fixed wing to fly and move along the optimal Dubins path of the fixed wing, and the method specifically comprises the following steps:
actual ground speed v through the fixed winggAnd the desired ground speed v of the fixed wing inputted from the outsidegrefSubtracting to obtain ground speed deviation e, and superposing the ground speed deviation e on the actual airspeed v of the fixed wing after the ground speed deviation e is subjected to PD control operation processingaAnd then outputs the desired airspeed v as a fixed wingarefThe airspeed controller is sent to the fixed wing;
the ground speed controller is established and expressed as:
e＝vg-vgref
in the formula, vgRepresenting the actual ground speed, v, of the fixed winggrefRepresenting the desired ground speed, v, of the fixed wingarefRepresenting the desired airspeed, v, of the fixed wingaRepresenting the actual airspeed of the fixed wing, e represents the deviation in ground speed,
the derivative of the ground speed deviation e is represented, P represents the proportional coefficient of the PD controller, and D represents the differential coefficient of the PD controller.
6. The method for generating the formation of the fixed-wing cluster formation by using the ground speed control and the equal-length Dubins algorithm according to claim 4, wherein the method comprises the following steps: the airspeed controller of the fixed wing is based on the expected airspeed v of the fixed wingarefCombined with actual airspeed v of the fixed wingaProcessing output speed control quantity, and superimposing wind speed interference quantity on the speed control quantityAnd the flying speed is controlled by sending the flying speed to the fixed wing.
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