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A collaborative control method for heterogeneous unmanned systems

A collaborative control and heterogeneous technology, applied in the field of unmanned systems, can solve the problems of task completion efficiency and low task allocation efficiency, and achieve the effects of increasing communication costs, improving efficiency, and enhancing robustness

Active Publication Date: 2021-08-24
SHANGHAI UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the prior art, the task completion efficiency and task allocation efficiency are low when heterogeneous unmanned systems perform tasks

Method used

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  • A collaborative control method for heterogeneous unmanned systems
  • A collaborative control method for heterogeneous unmanned systems
  • A collaborative control method for heterogeneous unmanned systems

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Experimental program
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Embodiment 1

[0058] see Figure 1-Figure 3 , a method for cooperative control of heterogeneous unmanned systems, comprising the following steps:

[0059] (1) Task formation stage: all n+1 members in the system form a set A={a 0 ,a 1 ,...,a n}, where a 0 Indicates the manager of the heterogeneous unmanned system, a i (i=1,2,...,n) represent the system members of the heterogeneous unmanned system; the manager a 0 Receive the task request from the upper computer to form the input signal of the system task, the input signal includes the system member a i The number k and system members a i The maximum allowable waiting time s before executing the task t , including the unmanned system member a who joined the task queue i The minimum reputation value m required t .

[0060] (2) Request phase: system manager a 0 Send formation request commands to other members in the system to obtain system member a i TA i and credibility τ i , where the time availability TA i Indicates the hetero...

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Abstract

The invention discloses a cooperative control method for heterogeneous unmanned systems, belonging to the field of unmanned systems, including the following stages: task formation stage, request stage, response stage, member selection stage and member determination stage; time availability is designed TA i and credibility τ i and depending on time availability TA i and credibility τ i Filter out the member list R, and then select the system members who complete the task according to the order of the member list R and design the distributed control protocol; also design the heterogeneous unmanned system manager as an intermediary to execute each heterogeneous unmanned system member The tasks are managed; the invention solves the problems of low task allocation efficiency and task completion efficiency when the existing heterogeneous unmanned systems perform tasks.

Description

technical field [0001] The invention relates to the field of unmanned systems, in particular to a method for collaborative control of heterogeneous unmanned systems. Background technique [0002] The heterogeneous unmanned system is a control system that controls different types of unmanned vehicles. The so-called heterogeneity refers to the different dimensions or state values ​​of the state of the controlled object in the unmanned system. Since the cooperative control of heterogeneous unmanned systems has the advantages of low cost, good performance, and strong robustness, it has been applied in more and more fields, such as smart grids, cooperative formation control of unmanned boats and UAVs, and distribution of mobile robots. type control etc. The heterogeneous unmanned system completes the work by exchanging information through the communication network, the optimal allocation of resources is reasonable, the cost of a single unmanned system member is low, and it has s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 王曰英董佳煜杜鑫吴乃龙付俊汪小帆周卫祥魏岩严怀成
Owner SHANGHAI UNIV