Unmanned aerial vehicle swarm formation network routing method based on optimal rigid graph
A swarm and rigid technology, applied in the field of UAV swarm formation network routing, can solve the problems of affecting load balance, data loss, etc., and achieve the effect of strong anti-electromagnetic interference ability, low background noise, and improved fault tolerance performance.
Pending Publication Date: 2020-11-20
XIAN UNIV OF TECH
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However, when the cluster head node is far away from the sink node, a large amount of energy consumption will be generated, which will affect the load balance
And when the cluster head node is disturbed, the data in the entire cluster will be lost, so it is necessary to strengthen the communication between clusters
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[0042] The present invention will be described in detail below in conjunction with the drawings and specific embodiments.
[0043] Such as figure 2 As shown, a routing method between UAV colony clusters based on the optimal rigid graph is implemented according to the following steps:
[0044] Step 1: In the initial cluster establishment stage, the wingman node generates a random number between 0 and 1 and compares it with the improved threshold T(n) formula. The node smaller than the threshold will become the cluster head node, and other nodes will automatically Converted into ordinary nodes;
[0045] The calculation formula of the threshold T(n) is shown in formula (1):
[0046]
[0047] In formula (1), p i Indicates the expected proportion of the cluster head node in the drone swarm, E res(i) Represents the remaining energy of the wingman node i at the current moment, d(i) represents the distance between the wingman node i and the leader node, and R is the current number of rounds....
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The invention discloses an unmanned aerial vehicle swarm formation network routing method based on an optimal rigid graph. The unmanned aerial vehicle swarm formation network routing method comprisesthe steps of: 1, enabling a wing plane node to generate a random number ranging from 0 to 1, comparing the random number with an improved threshold formula T (n), enabling a node smaller than a threshold to become a cluster head node, and enabling other nodes to be automatically converted into common nodes; 2, broadcasting a message within the competition radius of the cluster head node, and othercommon nodes add the message into the cluster with the maximum value by calculating the value of a selection function; 3, conducting topological optimization on the cluster head nodes of the multiplegenerated clusters through adopting an optimal rigid graph method; and 4, in a data transmission stage, adopting a single-hop mode in unmanned aerial vehicle swarm clusters for transmission, whereina mode of combining single hop and multi-hop is adopted between the clusters for transmission. According to the unmanned aerial vehicle swarm formation network routing method, the optimal rigid graphis generated for the plurality of cluster head nodes, so that the inter-cluster communication is ensured to be 2-connected, the connectivity of the inter-cluster communication is enhanced, the fault-tolerant performance of the inter-cluster communication is improved, and meanwhile, the overall load of the network is optimized.
Description
Technical field [0001] The invention belongs to the technical field of formation topology control, and specifically relates to a UAV swarm formation network routing method based on an optimal rigid graph. Background technique [0002] The drone swarm is composed of a group of small drones that work independently in a network and has excellent characteristics such as low cost, good perception, strong collaboration and functional distribution, which can greatly improve task execution efficiency. A reliable communication network can improve the ability of drone swarms to cooperate and realize real-time information sharing. However, drones may face strong electromagnetic interference and complex atmospheric environment during the flight. Therefore, it is necessary to adopt a system that can resist the outside world. Interfering communication method. Wireless ultraviolet communication has the advantages of strong anti-interference ability, all-weather work, low power consumption, and...
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Login to View More IPC IPC(8): H04W4/40H04W24/02H04W40/10H04W40/24H04W84/18
CPCH04W4/40H04W24/02H04W40/246H04W40/248H04W40/10H04W84/18
Inventor 赵太飞曹丹丹张海军薛蓉莉蒙春
Owner XIAN UNIV OF TECH