Communication topology fault tolerance optimization method and apparatus in cooperative formation of a plurality of unmanned aerial vehicles

Abstract

The invention provides a communication topology fault tolerance optimization method and apparatus in cooperative formation of a plurality of unmanned aerial vehicles. The method comprises the following steps: S1, obtaining a formation communication graph according to a three-dimensional durable formation needing to be formed by the cooperative formation of the plurality of unmanned aerial vehicles; S2, in the case of a communication fault of the cooperative formation of the plurality of unmanned aerial vehicles, deleting a communication fault arc or a communication fault node in the formation communication graph to obtain a first reconstruction formation communication graph; S3, obtaining a three-dimensional optimal durable graph corresponding to the first reconstruction formation communication graph according to a communication topology reconstruction algorithm, namely first optimal reconstruction communication topology; and S4, obtaining second optimal reconstruction communication topology satisfying the preset condition l n > V!l, namely re-optimized communication topology of the cooperative formation of the plurality of unmanned aerial vehicles, according to the first optimal reconstruction communication topology, each position configuration of the cooperative formation of the plurality of unmanned aerial vehicles and the communication topology reconstruction algorithm.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a communication topology fault-tolerant optimization method and device 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 information exchange topology, communication topology, connection topology, Information Structure or Information Topology of multi-UAV cooperative formation. , which are only a part of the set of all available communication links between UAVs. In order to unify the expression, the name "communication topology" is used below. At the same time, the collection of all available co...

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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

In addition, one or more UAVs may have a communication failure during the formation flight, making some communication links in the current communication topology unusable, resulting in the UAVs being unable to maintain the formation formation, and even causing UAV collisions in severe cases. ACCIDENT

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