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

A communication topology and multi-UAV technology, applied in the field of optimal communication topology generation, can solve problems such as limited battery power or fuel

Inactive Publication Date: 2017-08-25
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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  • Optimal communication topology generation method and device in multi-UAV cooperative formation
  • Optimal communication topology generation method and device in multi-UAV cooperative formation
  • Optimal communication topology generation method and device in multi-UAV cooperative formation

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Embodiment Construction

[0076] 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.

[0077] figure 1 It is a schematic flowchart of a method for generating an optimal communication topology in a multi-UAV cooperative formation provided by an embodiment of the present invention. It should be noted that in the embodiment of the present invention, only some of the drones in the multi-UAV cooperative formation can be used as the leader of the formation, and all the drones are used in the scenario where no failure occurs. Such as figure 1 As show...

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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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W40/24H04L12/751H04B7/185H04L45/02
CPCH04B7/18506H04L45/02H04W40/248
Inventor 罗贺王国强胡笑旋马华伟靳鹏夏维
Owner HEFEI UNIV OF TECH
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