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A Distributed Space-Time Coordinated Control Method for Heterogeneous UAV Swarm

A technology of space-time coordination and control method, applied in the direction of control/regulation system, non-electric variable control, three-dimensional position/channel control, etc., can solve the problems of cluster confusion, no formation feedback, unfavorable group expansion, etc.

Active Publication Date: 2021-04-16
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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  • A Distributed Space-Time Coordinated Control Method for Heterogeneous UAV Swarm
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  • A Distributed Space-Time Coordinated Control Method for Heterogeneous UAV Swarm

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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 UAV cluster. Individuals in the cluster are divided into a leader, a coordinator and a follower, and different functions are generated by different task roles to form a heterogeneous UAV cluster. A distributed space-time coordinated control framework for heterogeneous UAV clusters is established, a coordination mechanism for heterogeneous UAV clusters is designed, and cost functions are designed according to role functions, the coordination control problem is transformed into a rolling time-domain optimization problem, and then adopted The swarm intelligence optimization algorithm is used to solve the problem, so as to realize the formation of swarm drones and maintain the desired formation. The coordination mechanism designed in the present invention determines the affiliation relationship and the expected relative position relationship between different roles and individuals, and limits the objects and contents of information interaction, thereby realizing efficient communication and motion coordination among machines, and supporting the scalability of the cluster.

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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Patent Type & Authority Patents(China)
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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