Unmanned aerial vehicle formation consistency control method, system and device under time-varying channel based on topological optimization and storage medium

Abstract

The invention provides an unmanned aerial vehicle formation consistency control method, system and device under a time-varying channel based on topological optimization, and a storage medium. The method comprises the steps: performing distributed data transmission by unmanned aerial vehicles in a formation to obtain a formation topology; selecting a point with the maximum in-degree in the formation topology as a central point of the formation, and calculating an algebraic characteristic value of a topological Laplace matrix by combining the central point with global formation topology information; estimating the maximum convergence time of prediction consistency control according to the relationship between the algebraic characteristic value and the formation consistency control rate; carrying out topology reconstruction and optimization on the formation; and performing consistency control according to the optimized formation topology. The invention has the beneficial effects that thetopological structure can be effectively improved, the formation control under a deteriorated multipath channel is enhanced, the control precision within limited convergence time can be ensured, and avery good technical effect is achieved.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a method, system, device and storage medium for controlling unmanned aerial vehicle formation consistency under time-varying channels based on topology optimization. Background technique [0002] With the in-depth study of a single UAV, the limitations of a single UAV are becoming more and more obvious. The problem of multi-UAV formation control has always been a hot topic in the UAV field. UAV formation flight is to use two or more UAVs of the same type or different types to complete the specified flight mission in a specific formation. If the battlefield environment or mission mode changes, it must be carried out according to the actual situation. The formation is reconstructed and transformed into a new formation. Compared with a single UAV, multi-UAV formation cooperative missions have the following advantages: [0003] (1) Improve the success rate ...

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Problems solved by technology

[0008] (1) At present, the task allocation algorithm of UAV is mainly based on the centralized task allocation algorithm, but in the actual multi-task attack system of UAV, due to the existence of different types of UAVs and multiple attack targets, for complex tasks Allocation problem, the solution efficiency is low and a satisfactory solution cannot be obtained

[0009] (2) At present, the coordinated trajectory planning of UAVs mainly adopts the method based on offline path planning. However, due to the complexity of the battlefield environment and the mobility of the attacked target, the coordinated trajectory designed offline is often difficult to adapt to the coordinated attack of UAVs. Actual demand

But the disadvantage is that there are local extreme points, and it is more difficult to construct the potential field function

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