Optimal communication topology generation method and device in multi-UAV cooperative formation

Abstract

The invention provides an optimal communication topology generation method and device in multi-UAV cooperative formation. The method comprises the steps of: according to the formation shape of three-dimensional persistent formation needing to be formed by UAVs, obtaining a formation communication graph and a corresponding undirected weighed graph; calculating the three-dimensional optimal rigid graph of the undirected weighed graph according to a three-dimensional optimal rigid graph obtaining method; obtaining a three-dimensional optimal persistent graph according to the three-dimensional optimal rigid graph and a three-dimensional optimal persistent graph obtaining method; and, if the in-degree of the corresponding node of an UAV as a navigator in the three-dimensional optimal persistent graph is 0, taking the three-dimensional optimal persistent graph as the optimal communication topology of the formation, and taking the UAV as the navigator of the formation. The device is realized based on the method in the invention. By means of the optimal communication topology generation method and device in the multi-UAV cooperative formation provided by the invention, the formation communication cost is minimum in the process of keeping the formation of the three-dimensional persistent formation composed of multiple UAVs.

Description

technical field [0001] The present invention relates to the field of communication technology, in particular to a method and device for generating an optimal communication topology in 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 the communication topology of multi-UAV cooperative formation, and at the same time, the collection of all available communication links between UAVs is called the formation communication graph (Formation Communication Graph) of multi-UAV cooperative formation. [0003] Since the communication distance between any two UAVs in the communication topology is different, the comm...

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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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