Heuristic optimization method and device for information exchange topology in multi-unmanned-aerial-vehicle coordinated formation

Abstract

The invention provides a heuristic optimization method and device for information exchange topology in a multi-unmanned-aerial-vehicle coordinated formation. The method comprises: S1, a communicationnetwork topology is obtained according to a three-dimensional persistent formation formed by the multi-unmanned-aerial-vehicle coordinated formation; S2, when a communication failure occurs in the multi-unmanned-aerial-vehicle coordinated formation, a communication failure arc or communication failure node is deleted in the communication network topology based on the type of the communication failure to construct a first reconfigured communication network topology; S3, according to an information exchange topology reconstruction algorithm, a three-dimensional optimal enduring map correspondingto the first reconfigured communication network topology being a first optimal reconstruction information exchange topology is obtained; and S4, according to the first optimal reconstruction information exchange topology, configuration of a plurality of position in the multi-unmanned-aerial-vehicle coordinated formation, and the information exchange topology reconstruction algorithm, a second optimal reconstruction information exchange topology meeting a preset condition is obtained, wherein the second optimal reconstruction information exchange topology is the re-optimization information exchange topology of the multi-unmanned-aerial-vehicle coordinated formation and the preset condition is as follows: n is larger than |V|*(|V|-1)/2. According to the invention, an unmanned-aerial-vehiclecollision accident in the large-scale multi-unmanned-aerial-vehicle coordinated formation in a communication failure occurrence state is avoided and the formation is recovered; and the communicationcost of the formation is kept to be low.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a method and device for information interaction topology heuristic optimization 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. For a unified expression, the name "information exchange topology" is used below. At the same time, the collection of all ava...

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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 communication failures during the formation flight, making s

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