Collaborative consensus method for multiple unmanned vehicles based on Markov random field

A consistent and random field technology, applied in synchronization devices, wireless communications, climate sustainability, etc., can solve problems such as the difficulty of multi-unmanned aerial vehicle collaborative consensus algorithms, frequent changes in network topology, and no network center nodes. Achieve the effects of insensitivity to topology scale changes, high coordination time and offset errors, and reduced message volume

Active Publication Date: 2016-12-07
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

Multi-unmanned vehicles usually use wireless self-organizing networks to communicate. There are disadvantages such as no network center node, wireless link packe

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  • Collaborative consensus method for multiple unmanned vehicles based on Markov random field
  • Collaborative consensus method for multiple unmanned vehicles based on Markov random field
  • Collaborative consensus method for multiple unmanned vehicles based on Markov random field

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Embodiment Construction

[0028] refer to figure 1 . The specific steps of the multi-unmanned aerial vehicle collaborative consistency method based on the Markov random field of the present invention are as follows:

[0029] Assuming that the multi-unmanned vehicle network contains M nodes, the consensus method of multi-unmanned vehicles based on Markov random field can be described as follows:

[0030] 1) Adjacent nodes are added to the one-hop neighbor list of the local node for initialization, and the cooperative variable deviation of the node is initialized to 0.

[0031] 2) Set the synchronization cycle timer.

[0032] 3) Iterative calculation until the convergence accuracy is satisfied.

[0033] 4) The kth iteration.

[0034] 5) M nodes perform bidirectional variable data exchange with their neighbors in the form of data packets in each synchronization cycle.

[0035] 6) In the kth iteration, the node packs the local k-1th transmission cooperation variable and the cooperation variable of all...

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Abstract

The present invention discloses a collaborative consensus method for multiple unmanned vehicles based on the Markov random field, which is used for solving the technical problem that the collaborative consensus of the existing multiple unmanned vehicles is difficult to determine. In the technical solution, a neighbor system is introduced, and a reference of the whole network is generated by the interaction of collaborative information among neighbors based on the theory of the Markov random field; a deviation of cooperation between nodes is mapped as cluster potential energy, and an Ising model-based energy function is established on this basis; and finally, the consensus of the whole network is implemented by using the parallel energy minimization method.

Description

technical field [0001] The invention relates to a collaborative consistency method for multiple unmanned aerial vehicles, in particular to a collaborative consistency method for multiple unmanned aerial vehicles based on a Markov random field. Background technique [0002] Unmanned aerial vehicles, including unmanned aerial vehicles, unmanned airships, underwater unmanned aerial vehicles, etc., are playing an increasingly important role in modern warfare. Coordinated operations based on multiple unmanned aerial vehicles will play an important role in future warfare, which has become the consensus of all military powers in the world. With the miniaturization of computing and communication equipment, the computing power and functions of the onboard computer and communication equipment of small unmanned aerial vehicles are getting stronger and stronger, which makes it possible for multiple unmanned aerial vehicles to perform coordinated combat missions. In cooperative combat m...

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Application Information

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IPC IPC(8): H04W16/22H04W56/00
CPCH04W16/22H04W56/0015H04W56/002H04W56/0045Y02D30/70
Inventor 陈旿樊立明洪亮高小杰左颖李胆胆石磊李建涛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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