Topological perception routing method for unmanned aerial vehicle cluster formation
A UAV and routing technology, applied in network topology, wireless communication, vehicle position/route/altitude control, etc., can solve the problem that does not take into account the particularity of UAV cluster formation flight scenarios, topology perception delay, P-OLSR The protocol cannot adapt well to problems such as network topology changes, so as to achieve the effect of dynamically changing the sensing frequency and reducing network overhead
A UAV and routing technology, applied in network topology, wireless communication, vehicle position/route/altitude control, etc., can solve the problem that does not take into account the particularity of UAV cluster formation flight scenarios, topology perception delay, P-OLSR The protocol cannot adapt well to problems such as network topology changes, so as to achieve the effect of dynamically changing the sensing frequency and reducing network overhead
CN112469054AInactive Publication Date: 2021-03-09NORTHWESTERN POLYTECHNICAL UNIV +1
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[0052] Such as figure 1 In the specific scenario shown, four UAVs perform formation tasks in a line. When the UAV node M 4 When an obstacle is detected ahead, it is necessary to perform an obstacle avoidance task. At this time, the formation has changed. The following is the UAV node M 4 The obstacle avoidance process of the present invention is simply described to the specific implementation of the present invention, and for ease of explanation, the flight model of simplified unmanned aerial vehicle is 2 dimensions.
[0053] Refer to attached figure 1 , assuming that the initial distance between the UAV nodes is 300m, and the one-hop communication coverage radius of the UAV is 400m, when the UAV is at the stage shown in Figure (a), the UAV node at this time is in stage, the nodes remain relatively stationary, and the node M 4 and M 3 The relative distance at time a Calculated by the following formula:
[0054]
[0055] At this time, the relative distance change can ...
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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...
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Patent Timeline
09 Mar 2021
Publication
CN112469054A
- IPC
- H04W24/02; H04W40/24; H04W84/08; G05D1/10
- CPC
- H04W24/02; H04W40/242; H04W40/248; H04W84/08; G05D1/104
- Inventors
- 洪亮; 索宏泽