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Distributed space-time coordination control method for heterogeneous unmanned aerial vehicle cluster

A technology of space-time coordination and control method, applied in non-electric variable control, control/regulation system, three-dimensional position/channel control, etc., can solve the problems of cluster confusion, robustness to be improved, unfavorable group expansion, etc.

Active Publication Date: 2020-08-25
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

The traditional leader-following method often does not have accurate formation feedback. If the leader fails, it will cause chaos in the cluster, and the robustness needs to be improved.
In addition, when global communication is required, similar to centralized control, the amount of calculation is large, which is not conducive to the expansion of the group

Method used

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  • Distributed space-time coordination control method for heterogeneous unmanned aerial vehicle cluster
  • Distributed space-time coordination control method for heterogeneous unmanned aerial vehicle cluster
  • Distributed space-time coordination control method for heterogeneous unmanned aerial vehicle cluster

Examples

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Embodiment 1

[0112] The concrete steps of this embodiment are as follows:

[0113] 1. Set the parameters required for the simulation.

[0114] Let the maximum communication distance D cm =250m, the distance D between aircraft in the desired formation s =200m; the control period T in the distributed model predictive control c = 0.3s, prediction period T p =2.4s; the particle number N in the particle swarm optimization algorithm p =30, the threshold N of the number of iterations iter = 20, learning factor c 1 = 2,c 2 = 2, inertia coefficient weight w = 0.9; the virtual guide point always makes v along the positive direction of the x-axis r = 100m / s uniform linear motion.

[0115] Given the initial state of 10 UAVs, some UAVs have established communication with each other, and the rest are isolated follower UAVs, such as Figure 9 shown. The initial state and role settings of each UAV are shown in Table 1.

[0116] Table 1 Initial states of 10 UAVs

[0117]

[0118]

[0119]...

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Abstract

The invention discloses a distributed space-time coordination control method for a heterogeneous unmanned aerial vehicle cluster. Individuals in a cluster are divided into pilots, coordinators and followers; different task roles generate different functions to form a heterogeneous unmanned aerial vehicle cluster; a heterogeneous cluster unmanned aerial vehicle distributed space-time coordination control framework is further established; a coordination mechanism of a heterogeneous unmanned aerial vehicle cluster is designed; cost functions are designed according to role functions respectively;a coordination control problem is converted into a rolling time domain optimization problem; and then a swarm intelligence optimization algorithm is adopted for solving, so that cluster unmanned aerial vehicles are formed, and an expected formation is kept. A coordination mechanism designed by the invention determines affiliation relationships and expected relative position relationships between different roles and individuals, and limits objects and contents of information interaction, so that efficient communication and motion coordination effects among machines are realized, and the expandability of a cluster is supported.

Description

technical field [0001] The invention belongs to the technical field of coordinated control of heterogeneous cluster unmanned aerial vehicles, and in particular relates to a multi-task role switching mechanism and a distributed space-time coordinated control method oriented to formation and maintenance of cluster unmanned aerial vehicles. Background technique [0002] Clusters often refer to an organizational form in which swarm intelligence emerges through local interactions between large-scale limited intelligent individuals. Among them, "large-scale" indicates the large number of individuals; "limited intelligent individual" on the one hand emphasizes that the individual has a certain autonomous ability to reflect its intelligence, on the other hand, it also indicates that the individual only follows simple behavior rules and relies on individual ability It is not enough to complete complex tasks independently; "local interaction" means that an individual can only obtain i...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 赵江孙佳茗蔡志浩王英勋
Owner BEIHANG UNIV
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