CN114578851A - Unmanned aerial vehicle cluster fast steering method based on differential acceleration - Google Patents
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Abstract
The invention relates to an unmanned aerial vehicle cluster steering method based on differential acceleration, and belongs to the field of unmanned aerial vehicle cluster formation. The invention comprises the following steps: s1: acquiring an initial unmanned aerial vehicle position, and establishing an unmanned aerial vehicle cluster kinetic equation; s2: updating and acquiring the position vector of each unmanned aerial vehicle, and determining all unmanned aerial vehicle neighbor sets in the communication range of the unmanned aerial vehicles; s3: calculating the resultant force and differential acceleration of the repulsive force and the attractive force according to the virtual force guiding principle; s4: defining an acceleration adjusting coefficient, and dynamically adjusting the acceleration in real time according to the continuous change of the position of the unmanned aerial vehicle cluster in the steering process; s5: through the change of acceleration, thereby constantly calculate resultant force and change unmanned aerial vehicle motion state, let every unmanned aerial vehicle that puts the difference in position, have suitable acceleration. The unmanned aerial vehicle cluster steering system has the advantages that the motion process of the unmanned aerial vehicle cluster steering is similar to a rigid body, and the distance between two adjacent unmanned aerial vehicles is kept relatively stable; s6: and judging whether the cluster steering is finished or not. If yes, ending the steering; if not, return to S2 to continue execution. In the cluster steering process, corresponding constraint conditions are established for avoiding collision and separation of the unmanned aerial vehicle and controlling energy consumption. According to the invention, when the unmanned aerial vehicle cluster turns, the acceleration can be dynamically adjusted according to the defined acceleration adjusting coefficient, so that the unmanned aerial vehicle cluster can quickly turn, the unmanned aerial vehicle cluster moves like a rigid body, and the condensation force of the unmanned aerial vehicle cluster is increased.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle cluster formation control, and particularly relates to an unmanned aerial vehicle cluster fast steering method based on differential acceleration.
Background
Unmanned aerial vehicle cluster formation means that a plurality of unmanned aerial vehicles form a specific formation, and complex tasks are completed through information propagation and cooperation among the unmanned aerial vehicles. And there are no strict orientation and relative position constraints between individuals. General individual action is comparatively simple and single, produces the overall effect through mutual information communication, realizes the autonomous cooperation of higher degree, can adapt to environment change direction or shape fast, forms the cluster intelligence. Clustering motion means that in an autonomous and complex multi-agent system, if all agents finally converge to the same velocity vector, and the distance between every two agents finally keeps stable; the total potential energy of the whole system reaches the minimum value, the shape of the cluster tends to be stable, and the system is called to obtain cluster motion.
In unmanned aerial vehicle cluster formation, information is transmitted among unmanned aerial vehicle clusters, a leader unmanned aerial vehicle is set by using a virtual force guiding method, the resultant force of the combination of the attraction force and the repulsion force is calculated for each unmanned aerial vehicle node, and the position and the motion state of the unmanned aerial vehicle are controlled and moved according to the resultant force. The repulsion is used for controlling the safety distance between adjacent unmanned aerial vehicles, the attraction is used for guiding the behavior of the whole cluster system, and the principles of short-distance repulsion and long-distance attraction are met. Can guarantee that each unmanned aerial vehicle does not bump in the cluster for keep away barrier problem and path planning problem under the complex environment.
In the unmanned aerial vehicle cluster movement, when the unmanned aerial vehicle cluster turns to, the slightest uncertainty can reduce the cohesion of the cluster, so that the cluster turns to for a long time, and the cluster is easy to become an enemy attack target in the battle process. In the steering process of the unmanned plane cluster, no matter how the consensus mechanism causing the steering decision changes, the actual execution of the decision cannot be instantaneous, because the decision needs a certain time to propagate in the whole cluster. And with the unmanned aerial vehicle that leader unmanned aerial vehicle distance is different, the frictional force that its acceleration received is different, leads to the cluster to be unable to reach the speed uniformity under the motion state for the unmanned aerial vehicle cluster turns to slowly, the trailing phenomenon probably appears. Therefore, how to reduce the cluster turning time in order to maintain the cohesion during the turning process is a problem to be solved at present.
Disclosure of Invention
The invention provides an unmanned aerial vehicle cluster fast steering method based on differential acceleration, which defines an acceleration adjusting coefficient, dynamically adjusts the acceleration of an unmanned aerial vehicle through the real-time position change of the unmanned aerial vehicle, the unmanned aerial vehicles at different positions have different accelerations, and the motion state of the unmanned aerial vehicle is adjusted through resultant force, so that the motion process is similar to a rigid body when the unmanned aerial vehicle cluster steers, the unmanned aerial vehicle cluster can fast steer, and the time is reduced.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle cluster fast steering method based on differential acceleration comprises the following steps:
s1: acquiring an initial unmanned aerial vehicle position, and establishing an unmanned aerial vehicle cluster kinetic equation;
s2: updating and acquiring the position vector of each unmanned aerial vehicle, and determining all unmanned aerial vehicle neighbor sets in the communication range of the unmanned aerial vehicles;
s3: calculating the resultant force and differential acceleration of the repulsive force and the attractive force according to the virtual force guiding principle;
s4: defining an acceleration adjusting coefficient, and dynamically adjusting the acceleration in real time according to the continuous change of the position of the unmanned aerial vehicle cluster in the steering process;
s5: through the change of acceleration, thereby constantly calculate resultant force and change unmanned aerial vehicle motion state, let every unmanned aerial vehicle of putting the difference in position, have suitable acceleration, the unmanned aerial vehicle cluster can accomplish fast and turn to. The motion process of the unmanned aerial vehicle cluster is similar to a rigid body when the unmanned aerial vehicle cluster turns;
s6: and judging whether the cluster steering is finished or not. If yes, ending the steering; if not, the process returns to step S2 to continue execution. In the cluster steering process, corresponding constraint conditions are established for avoiding collision, separation and energy consumption control of the unmanned aerial vehicles, so that the distance between two adjacent unmanned aerial vehicles is kept relatively stable.
Further, in step S1, the method is implemented
Representing the position vector of drone i in three-dimensional space. v. ofiAnd uiRespectively representing the velocity vector and acceleration vector inputs of the unmanned aerial vehicle i. By controlling variable uiThe motion state of the unmanned aerial vehicle can be changed. The unmanned plane cluster nonlinear motion equation is as follows:
further, in step S2, NiRepresenting the unmanned aerial vehicle neighbor set in the unmanned aerial vehicle communication range r, and using 2 norms for the distance between any two unmanned aerial vehicles in the space
And (4) showing.
Further, in step S3, a virtual force guiding principle is introduced into the unmanned aerial vehicle cluster motion equation, and a resultant force F is calculated by considering the comprehensive action of the repulsive force and the attractive force of each unmanned aerial vehicle ii. Setting the mass m of all unmanned aerial vehicles, and obtaining the acceleration alpha according to the resultant forceiMake the unmanned aerial vehicle control variable ui＝αi。
Further, in step S4, the acceleration is subject to a drag, the acceleration of the drone closer to the leader is smaller, and the acceleration of the drone farther from the leader is larger, which means that the drone farther away needs more time to complete a turn, i.e. the drone cluster also needs more time to turn. The cohesion of unmanned aerial vehicle cluster in-process cluster that turns to has been reduced, the trailing phenomenon will appear. And defining an acceleration adjusting coefficient, so that each unmanned aerial vehicle with different positions has proper acceleration. Namely, it is
Wherein, beta is ∈ [1,2]]，
Is the current drone position vector and,
is the position vector of the leader drone, dmaxThe maximum distance between the unmanned aerial vehicle and the leader unmanned aerial vehicle from the clutch set is.
Further, in step S5, in order to make the unmanned aerial vehicle cluster complete fast steering, the acceleration is defined as αβThe unmanned plane i resultant force is as follows:
wherein, betaiWith the dynamic change of the displacement of the unmanned aerial vehicle i, the trend is from inside to outside, and the value changes from large to small. By dynamic adjustment
Changing the resultant force causes drone i to have the appropriate acceleration, with the other drones having the same definition. Make every unmanned aerial vehicle have different acceleration rate adjustment coefficient, let the whole speed of turning to of unmanned aerial vehicle cluster tend to unanimous, turn to the motion of in-process similar rigid body, realize turning to fast.
Further, in step S6, it is determined whether the drone cluster has turned to completion, that is, whether the leader drone has reached the destination point. In the unmanned aerial vehicle cluster steering process, in order to avoid collision of unmanned aerial vehicles and keep the directional convergence of the unmanned aerial vehicle cluster, the maximum value and the minimum value of the distance between two adjacent unmanned aerial vehicles are set as constraint conditions; when the unmanned aerial vehicle changes direction frequently and the flying distance increases, the more energy the unmanned aerial vehicle consumes. And the energy consumption is controlled, and the working capacity of the unmanned aerial vehicle is improved. The following constraints are established:
whereindminMinimum distance to avoid collision of unmanned aerial vehicle, dmaxThe maximum distance of the unmanned plane in the network topology transformation process,
the thrust output by the unmanned aerial vehicle in the time t is,
the speed of the unmanned plane at the time t is shown, and E is a maximum threshold value of the capacity consumption. The energy consumption is the sum of the thrust work at each moment.
The invention has the following effective effects: when the unmanned aerial vehicle cluster turns, the unmanned aerial vehicle far away from the leader needs more time to complete a turn, and the unmanned aerial vehicle is easy to deviate from the cluster, so that the overall time for turning the cluster is prolonged. And defining an acceleration adjusting coefficient according to different distances between each unmanned aerial vehicle and the leader unmanned aerial vehicle in the unmanned aerial vehicle cluster. Make every unmanned aerial vehicle obtain the dynamic acceleration that is fit for it and turns to, let the unmanned aerial vehicle cluster realize turning to fast, turn to the time reduction. The unmanned aerial vehicle cluster turns to the motion process and is similar to the rigid body, keeps unmanned aerial vehicle cohesion.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings used in the detailed description or the prior art description will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic flow chart diagram according to an embodiment of the present invention;
fig. 2 is a diagram of a steering motion trajectory of an unmanned aerial vehicle cluster according to an embodiment of the present invention;
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
According to the invention, aiming at the problem of unmanned aerial vehicle cluster steering, the invention provides the unmanned aerial vehicle cluster steering method based on the differential acceleration. When the unmanned aerial vehicle cluster turns to, for making the unmanned aerial vehicle cluster not have the trailing phenomenon to appear, reach the effect that turns to fast. And establishing an unmanned aerial vehicle cluster motion equation, and solving resultant force and acceleration according to the virtual force guiding principle. And then defining an acceleration adjusting coefficient according to the different positions of each unmanned aerial vehicle and the leader unmanned aerial vehicle and the different resistance received by each unmanned aerial vehicle. And adjusting the acceleration of the unmanned aerial vehicle cluster according to the position of the unmanned aerial vehicle cluster when the unmanned aerial vehicle cluster turns to and the distance between the unmanned aerial vehicle cluster and the leader unmanned aerial vehicle. The motion state of the unmanned aerial vehicle is changed by changing the resultant force of the unmanned aerial vehicles, so that the unmanned aerial vehicles can keep the whole consistency when the cluster turns. The unmanned aerial vehicle cluster steering mechanism is beneficial to the fact that the unmanned aerial vehicle cluster moves like a rigid body when steering, fast steering of the unmanned aerial vehicle cluster is achieved, and working efficiency of the unmanned aerial vehicle cluster is improved. A flowchart of a differential acceleration-based unmanned aerial vehicle cluster steering method is shown in fig. 1.
Fig. 2 is a turning motion trajectory of the unmanned aerial vehicle cluster, where a black node is an initial position when the unmanned aerial vehicle cluster turns, and a red node is a position after the unmanned aerial vehicle cluster turns. The arc-shaped dotted line is a motion track of the unmanned aerial vehicle cluster in the steering process, and the black solid node and the red solid node are the leader unmanned aerial vehicle o.
As shown in fig. 1, a method for fast steering of a cluster of unmanned aerial vehicles based on differential acceleration includes the following steps:
s1: acquiring an initial unmanned aerial vehicle position, and establishing an unmanned aerial vehicle cluster kinetic equation;
s2: updating and acquiring a position vector of each unmanned aerial vehicle, and determining all unmanned aerial vehicle neighbor sets in the communication range of the unmanned aerial vehicles;
s3: calculating the resultant force and differential acceleration of the repulsive force and the attractive force according to the virtual force guiding principle;
s4: defining an acceleration adjusting coefficient, and dynamically adjusting the acceleration in real time according to the continuous change of the position of the unmanned aerial vehicle cluster in the steering process;
s5: through the change of acceleration, thereby constantly calculate resultant force and change unmanned aerial vehicle motion state, let every unmanned aerial vehicle of putting the difference in position, have suitable acceleration, the unmanned aerial vehicle cluster can accomplish fast and turn to. The motion process of the unmanned aerial vehicle cluster is similar to a rigid body when the unmanned aerial vehicle cluster turns;
s6: and judging whether the cluster steering is finished or not. If yes, ending the steering; if not, the process returns to step S2 to continue execution. In the cluster steering process, corresponding constraint conditions are established for avoiding collision, separation and energy consumption control of the unmanned aerial vehicles, so that the distance between two adjacent unmanned aerial vehicles is kept relatively stable.
When the unmanned aerial vehicles move in a cluster, each unmanned aerial vehicle updates the position vector of each unmanned aerial vehicle at each moment through broadcast information. And (3) taking the unmanned aerial vehicle as particle research, and establishing an unmanned aerial vehicle cluster kinetic equation. Let the position coordinate of the unmanned aerial vehicle in the three-dimensional space be qi＝(xi,yi,zi)T. Then the non-linear motion equation of the drone cluster is as follows:
in the formula:
is the position vector of the drone i,
velocity vector, u, for drone iiFor the acceleration vector input of the unmanned aerial vehicle i, the unmanned aerial vehicle i passes through a control variable uiThe motion state of the unmanned aerial vehicle can be changed. And N is the number of unmanned aerial vehicle clusters.
Calculating that each unmanned aerial vehicle meets communication range in individual moderNeighbor set of all internal unmanned planes
For unmanned plane i position vector
J position vector with drone
The difference vector of (a) is calculated,
u is the set of all unmanned aerial vehicle reference numbers in whole unmanned aerial vehicle cluster.
And (3) introducing a virtual force guiding principle, setting the mass of the unmanned aerial vehicle as m, and considering the comprehensive action of repulsion and attraction of each unmanned aerial vehicle to obtain a resultant force formula. Thus the unmanned plane control variable uiEqual to the acceleration given by the resultant force:
ui＝αi
when the unmanned aerial vehicle network cluster turns to, the topology of the unmanned aerial vehicle cluster network is from C to C', and the distance collection between each following unmanned aerial vehicle i and the leader unmanned aerial vehicle o at each moment in the turning process of the network cluster is calculated
Updating in real time to obtain the maximum distance from the leader unmanned aerial vehicle
i belongs to N-1, N is the total number of the unmanned planes, i.e. dmaxIs the maximum from the clutch pool. Defining an acceleration adjustment coefficient β:
wherein, beta is epsilon [1,2 ].
By dynamically varying the magnitude of the acceleration, based on the resultant force FiControlling the motion state of the unmanned aerial vehicle, and calculating the i resultant force of the unmanned aerial vehicle:
wherein, through the change of displacement when unmanned aerial vehicle turns to, the beta carries out real-time dynamic change, carries out unmanned aerial vehicle motion state and adjusts. By adjusting alphaβMake unmanned aerial vehicle change and make a concerted effort and then change unmanned aerial vehicle flight state. The acceleration coefficient of each unmanned aerial vehicle of dynamic adjustment realizes that the unmanned aerial vehicle acceleration of keeping away from the leader is on the large side, and the unmanned aerial vehicle acceleration that is close to the leader is on the small side, and the whole speed that turns to of unmanned aerial vehicle cluster is unanimous, and no tailing phenomenon makes the unmanned aerial vehicle cluster turn to the time reduction.
Judging whether the unmanned plane cluster steering is finished or not, if so, finishing the steering; if not, the acceleration is continuously and dynamically adjusted until the steering is finished. According to unmanned aerial vehicle cluster turn to the process, in order to avoid unmanned aerial vehicle collision and keep unmanned aerial vehicle cluster to well focus nature. Setting the maximum value and the minimum value of the distance between two adjacent unmanned aerial vehicles as constraint conditions; when the unmanned aerial vehicle changes direction frequently and the flying distance increases, the more energy the unmanned aerial vehicle consumes. And the energy consumption is controlled, and the working capacity of the unmanned aerial vehicle is improved. The following constraints are established:
wherein d isminMinimum distance to avoid collision of unmanned aerial vehicle, dmaxThe maximum distance of the unmanned plane in the network topology transformation process,
the thrust output by the unmanned aerial vehicle in the time t is,
for the speed of the drone at time t, E is the power consumptionA maximum threshold value. The energy consumption is the sum of the thrust work at each moment.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (7)
1. An unmanned aerial vehicle cluster fast steering method based on differential acceleration is characterized in that: the method comprises the following steps:
s1: acquiring an initial unmanned aerial vehicle position, and establishing an unmanned aerial vehicle cluster kinetic equation;
s2: updating and acquiring the position vector of each unmanned aerial vehicle, and determining all unmanned aerial vehicle neighbor sets in the communication range of the unmanned aerial vehicles;
s3: calculating the resultant force and differential acceleration of the repulsive force and the attractive force according to the virtual force guiding principle;
s4: defining an acceleration adjusting coefficient, and dynamically adjusting the acceleration in real time according to the continuous change of the position of the unmanned aerial vehicle cluster in the steering process;
s5: through the change of acceleration, thereby constantly calculate resultant force and change unmanned aerial vehicle motion state, let every unmanned aerial vehicle of putting the difference in position, have suitable acceleration, the unmanned aerial vehicle cluster can accomplish fast and turn to. The motion process of the unmanned aerial vehicle cluster is similar to a rigid body when the unmanned aerial vehicle cluster turns;
s6: and judging whether the cluster steering is finished or not. If yes, ending the steering; if not, the process returns to step S2 to continue execution. In the cluster steering process, corresponding constraint conditions are established for avoiding collision, separation and energy consumption control of the unmanned aerial vehicles, so that the distance between two adjacent unmanned aerial vehicles is kept relatively stable.
2. The unmanned aerial vehicle cluster fast steering method based on differential acceleration according to claim 1, characterized in that: in step S1, the method includes
Representing the position vector of drone i in three-dimensional space. v. ofiAnd uiRespectively representing the velocity vector and acceleration vector inputs of the unmanned aerial vehicle i. By controlling variable uiThe motion state of the unmanned aerial vehicle can be changed. The nonlinear motion equation of the unmanned plane cluster is as follows:
3. the unmanned aerial vehicle cluster fast steering method based on differential acceleration as claimed in claim 2, wherein: in step S2, NiRepresenting the unmanned aerial vehicle neighbor set in the unmanned aerial vehicle communication range r, and using 2 norms for the distance between any two unmanned aerial vehicles in the space
And (4) showing.
4. The unmanned aerial vehicle cluster fast steering method based on differential acceleration as claimed in claim 3, wherein: in step S3, a virtual force guidance principle is introduced into the unmanned aerial vehicle cluster motion equation, and a resultant force F is calculated by considering the combined action of the repulsive force and the attractive force of each unmanned aerial vehiclei. Setting the mass m of the unmanned aerial vehicle, and obtaining the acceleration alpha according to the resultant forceiMake the unmanned aerial vehicle control variable ui＝αi。
5. The differential acceleration-based unmanned aerial vehicle cluster fast steering method according to claim 4, wherein: in step S4, the acceleration is subject to a resistance, and the acceleration of the drone close to the leader is smaller, and the acceleration of the drone far from the leader is larger, which means that the drone far away needs more time to complete a turn, so that the cohesion of the cluster during the turning of the cluster of drones is reduced, and the tailing phenomenon will occur. And defining an acceleration adjusting coefficient, so that each unmanned aerial vehicle with different positions has proper acceleration. Namely, it is
Wherein, beta is ∈ [1,2]]，
Is the follower drone position vector,
is the position vector of the leader drone, dmaxIs the maximum distance between the drone and the leader drone.
6. The unmanned aerial vehicle cluster fast steering method based on differential acceleration as claimed in claim 5, wherein: in step S5, in order to make the drone cluster complete fast steering, the acceleration is defined as αβThe unmanned plane i resultant force is as follows:
wherein beta isiWith the dynamic change of the displacement of the unmanned aerial vehicle i, the trend is from inside to outside, and the value is changed from large to small. By dynamic adjustment
Changing the resultant force causes drone i to have the appropriate acceleration, with the other drones having the same definition. Make every unmanned aerial vehicle have different acceleration rate adjustment coefficient, let the whole speed of turning to of unmanned aerial vehicle cluster tend to unanimous, turn to the motion of in-process similar rigid body, realize turning to fast.
7. The unmanned aerial vehicle cluster fast steering method based on differential acceleration as claimed in claim 6, wherein: in step S6, it is determined whether the drone cluster has turned to completion, i.e., whether the leader drone has reached the destination point. In the unmanned aerial vehicle cluster steering process, in order to avoid collision of the unmanned aerial vehicles and keep the clustering performance of the unmanned aerial vehicle cluster in the middle direction, the maximum value and the minimum value of the distance between two adjacent unmanned aerial vehicles are set as constraint conditions; when the unmanned aerial vehicle changes directions frequently and the flying distance increases, the more energy the unmanned aerial vehicle consumes. And the energy consumption is controlled, and the working capacity of the unmanned aerial vehicle is improved. The following constraints are established:
wherein d isminMinimum distance to avoid collision of unmanned aerial vehicle, dmaxThe maximum distance of the unmanned aerial vehicle in the process of network topology transformation,
the thrust output by the unmanned aerial vehicle in the time t is,
the speed of the unmanned plane at the time t is shown, and E is a maximum threshold value of the capacity consumption. The energy consumption is the sum of the thrust work at each moment.
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