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Multi-UAV cooperative formation optimal information interaction topology generation method and device

A technology for information interaction and multiple drones, applied in the field of communication, can solve problems such as limited battery power or fuel, and achieve the effect of low cost of formation communication

Active Publication Date: 2018-02-02
HEFEI UNIV OF TECH
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Problems solved by technology

[0004] at the same time, there is a finite amount of battery power or fuel available to each UAV

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  • Multi-UAV cooperative formation optimal information interaction topology generation method and device
  • Multi-UAV cooperative formation optimal information interaction topology generation method and device
  • Multi-UAV cooperative formation optimal information interaction topology generation method and device

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Embodiment Construction

[0068] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0069] figure 1 It is a schematic flowchart of a multi-UAV cooperative formation optimal information interaction topology generation method provided by an embodiment of the present invention. It should be noted that, in the embodiment of the present invention, each UAV in the multi-UAV cooperative formation can serve as the formation leader, and it is used under the condition that all the UAVs do not fail. Such as figure 1 As shown, the method includes:

[...

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Abstract

The invention provides a multi-unmanned-aerial-vehicle coordinated formation optimal information interaction topology generation method and device. The method comprises the steps that a communication network topology and a corresponding undirected weighted graph thereof are obtained according to the formation configuration of three-dimensional persistent formation required to be formed by unmanned aerial vehicles; the three-dimensional optimal rigid graph of the undirected weighted graph is calculated according to a three-dimensional optimal rigid graph generation algorithm; and a three-dimensional optimal persistent graph is obtained according to the three-dimensional optimal rigid graph and a three-dimensional optimal persistent graph generation algorithm, wherein the three-dimensional optimal persistent graph is the optimal information interaction topology of the formation. The device is realized based on the method. The formation communication cost of the three-dimensional persistent formation is enabled to be minimum in the process of maintaining the formation configuration.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a method and device for generating an optimal information interaction topology of multi-UAV cooperative formation. Background technique [0002] During the take-off and cruising phase, all unmanned aerial vehicles (UAVs) usually exchange information through point-to-point communication links (communication links) to form a certain formation shape (formation shape or formation geometry), and maintain this formation formation to continue flying towards the target area . The communication link used is called information exchange topology, communication topology, connection topology, information structure or information topology of multi-UAV cooperative formation. They are just some of the set of all communication links available between UAVs. For a unified expression, the name "information exchange topology" is used below. At the same time, the collection of all available ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 王国强罗贺胡笑旋马华伟靳鹏夏维
Owner HEFEI UNIV OF TECH
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