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...

AI Technical Summary

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 some communication links in the current information exchange topology unusable, resulting in the UAVs being unable to maintain the formation formation, and even causing UAVs to collision accident

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