Topological perception routing method for unmanned aerial vehicle cluster formation

Abstract

The invention discloses a topological perception routing method for unmanned aerial vehicle cluster formation, and the method divides a formation flight process into two stages: a formation keeping stage and a formation reconstruction stage based on the characteristics of the unmanned aerial vehicle cluster formation. In the formation keeping stage, the network topology configuration is relativelystable; in the formation reconstruction stage, the network topology relatively changes frequently. An unmanned aerial vehicle formation control strategy and unmanned aerial vehicle formation topologychange are combined, and when unmanned aerial vehicle nodes execute a formation reconstruction task, the nodes actively change the sending period of HELLO detection frames, so that neighbor nodes ofthe nodes can quickly sense the topology change. The method can effectively adapt to the characteristic of high dynamic network topology of the unmanned aerial vehicle cluster formation, dynamically changes the sensing frequency, reduces the network overhead in the flight process of the unmanned aerial vehicle formation, and can be applied to the communication network of the unmanned aerial vehicle formation.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle cluster routing method. Background technique [0002] UAV cluster formation is a system in which multiple UAVs are used as a system. The UAVs in the system coordinate with each other and complete the tasks according to the preset tasks. It has huge advantages in performing tasks such as collaborative search, border surveillance and situational awareness. In order to achieve a better group formation, UAV cluster nodes need to communicate through networking to perform collaborative tasks. The document "Dynamic Routing for Flying Ad Hoc Networks, IEEE Transactions on Vehicular Technology, vol.65, no.3, pp.1690–1700, 2015" discloses a GPS-based P-OLSR routing protocol, which is based on the original Optimized Based on the Link-State Routing (OLSR) protocol, geographical location information is used as one of the evaluation cri...

AI Technical Summary

Problems solved by technology

Compared with the OLSR protocol, the P-OLSR routing protocol published in the literature is better adapted to the communication scenario between UAVs, but the P-OLSR protocol does not take into account the particularity of the UAV cluster formation flight scenario, and the formation usually requires The formation is changed in a short period of time, and the flight speed of the UAV is usually 30-460km / h, so the network topology of the formation changes drastically during the reconfiguration of the formation, and the P-OLSR protocol cannot adapt to the network topology well. change, limited

[0003] To sum up, the existing routing protocols do not consider the characteristics of cluster formation flight, and there are situations such as topology-aware delay and high packet loss rate.

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