Cooperative control policy based on secure communication of multiple unmanned aerial vehicles

Abstract

The invention discloses a cooperative control policy based on secure communication of multiple unmanned aerial vehicles. The cooperative control policy comprises a first step of applying an Olfati-saber flocking control algorithm of a variable speed virtual leader to perform preliminary cooperative control over an unmanned aerial vehicle group; a second step of introducing a virtual communication circle to perform on-line communication power setting on each unmanned aerial vehicle, and calculating an expected position of each unmanned aerial vehicle node meeting the secure communication requirements; and a third step of applying an optimized position movement function to make each unmanned aerial vehicle node move to the expected position obtained in the second step securely without collision. According to the cooperative control policy, how communication affects unmanned aerial vehicle group dynamics and communication topology is studied more; through the newly provided virtual communication circle and by combination of an improved target movement function and an existing classic dynamics flocking algorithm, the problem of insecurity of information leakage possibly occurring to a multi-unmanned aerial vehicle system is effectively solved, and the cooperative control policy is a new idea for describing relations of unmanned aerial vehicle dynamics and wireless ad hoc networks.

Description

Technical field [0001] The invention belongs to the communication field of cooperative control of multiple drones, and particularly relates to a cooperative control strategy based on safe communication of multiple drones. Background technique [0002] Due to its individual characteristics such as autonomous intelligence, high speed, and rapidly changing topology, the multi-UAV system uses mobile ad hoc networks in its internal communication network; in the prior art, there are only two defects in the safety communication of UAVs. : On the one hand, when the UAV transmission power is high, the multiplexed channel will be interfered. This will not only seriously interfere with other UAVs, reduce the performance of the node, but also increase the overall transmission power of the UAV group. Information leakage; on the other hand, if the transmission power of some drones is not high enough, the signal-to-noise ratio in the link will decrease, which will affect the connectivity of the...

AI Technical Summary

Problems solved by technology

[0002] Due to the characteristics of autonomous intelligence, high speed, and fast-changing topology of the multi-UAV system, the internal communication network adopts a mobile ad hoc network; the security communication problem of UAVs in the prior art, as long as there are two defects : On the one hand, when the transmission power of the UAV is high, the multiplexed channel will be interfered, which will not only seriously interfere with other UAVs and reduce the performance of nodes, but also increase the overall transmission power of the UAV group, which is easy On the other hand, if the transmission power of some UAVs is not high enough, the signal-to-noise ratio in the link will decrease, which will affect the connectivity of the link and cause some UAVs to fail to communicate normally

The communication performance of a multi-UAV system requires a comprehensive consideration of the distance between UAVs, wireless signal power and topology. However, in the current research on the swarming algorithm as the basis for multi-UAV cooperative control, it mainly makes the distance between UAVs Equidistant formation, with less consideration for inter-UAV communication performance, security communication and other factors

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