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Two-dimensional formation communication topology generation and expression method based on minimum weak rigidity

A communication topology, weak rigid technology, applied in network topology, wireless communication, two-dimensional position/channel control, etc., can solve the problem of not studying the minimum weak rigid formation generation method, not studying the communication topology spanning tree expression method, etc.

Active Publication Date: 2021-06-04
NAVAL AERONAUTICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005]The minimum weak rigid formation is the simplest formation communication topology, but the existing literature has not studied the generation method of the minimum weak rigid formation, let alone how to Expression method of the foregoing communication topology spanning tree

Method used

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  • Two-dimensional formation communication topology generation and expression method based on minimum weak rigidity
  • Two-dimensional formation communication topology generation and expression method based on minimum weak rigidity
  • Two-dimensional formation communication topology generation and expression method based on minimum weak rigidity

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] In order to verify the effectiveness of the proposed method, an example simulation is given below.

[0089]Consider 16 agents in a two-dimensional space, assuming that the sensors on each agent are the same, and the communication range is r=30. Each agent can only communicate with agents (neighbors) within the communication range. All agents are randomly distributed in the space.

[0090] This embodiment specifically adopts the following generation methods: determining formation composition, set initialization, and topology generation.

[0091] When the generation method constructs the undirected graph in step S1, the following judgment is made. The distance between the two vertices corresponding to each edge in E should meet the communication radius requirements in this embodiment, that is, r≤30, otherwise the Edges are removed from E.

[0092] The simulation results are shown in Table 1 and Figure 4 to Figure 6 as shown, Figure 4 Represents the rigid formation ...

Embodiment 2

[0098] This embodiment is basically the same as Embodiment 1, the difference mainly lies in:

[0099] When the generation method constructs the undirected graph in step S1, the communication range is not judged; instead, the judgment is made respectively in the set initialization in step S2 and the topology generation in step S3.

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Abstract

The invention discloses a two-dimensional formation communication topology generation and expression method based on minimum weak rigidity. The communication topology generation method comprises the following steps of formation composition determination, set initialization and topology generation. The communication topology expression method is based on the generation method, and the following steps are added: initializing a set, judging and adding non-collinear points, judging and adding collinear points, and repeating and outputting. According to the communication topology generation method, unnecessary communication among the nodes of the two-dimensional formation is avoided, and the waste of communication resources is greatly reduced; the information interaction amount needed for maintaining the formation is reduced to the maximum extent, it can be guaranteed that the corresponding frame can be subjected to rigid transformation, the minimum weak rigidity constraint of the two-dimensional formation can be rapidly completed through the corresponding communication topology expression method in a set form of three points in combination with coordinates of the three points, and the method has the advantages of being high in efficiency, large in engineering value and the like.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle formation control, and mainly relates to a method for generating a communication topology of a rigid two-dimensional formation, in particular to a method for generating a communication topology for a two-dimensional formation based on minimum weak rigidity, and a method based on the generation method. Two-dimensional formation communication topology representation method with minimum weak rigidity. Background technique [0002] With the wide application of multi-agent systems, there are more and more researches on formation control of multi-agent systems. In the problem of formation control, formation formation is often achieved by specific constraints on the agent's position, which depends on the communication topology describing the interaction relationship between agents and the agent's perception ability. [0003] In recent years, the distributed formation strategy based on relative dis...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05D1/10H04B7/185H04W84/04
CPCG05D1/0202G05D1/104H04B7/18506H04W84/04
Inventor 杨秀霞张毅严瑄方国伟高恒杰王晨蕾于浩
Owner NAVAL AERONAUTICAL UNIV
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