Unmanned cluster formation maneuvering control method based on sparse sampling and information interaction

Abstract

The invention discloses an unmanned cluster formation maneuvering control method based on sparse sampling and information interaction, and the method comprises the steps: carrying out the triggering of dynamic sparse sampling, carrying out the sampling of an individual state only when an autonomous individual in an affine formation meets a condition, and updating a control algorithm of the individual, and meanwhile, the sampled state information is broadcasted to the neighbor individuals, and the neighbor individuals update own control algorithms after obtaining the broadcast information. The method can solve the problems of limited system communication bandwidth, insufficient individual power supply energy in the system and the like caused by too frequent communication and sampling frequency in a formation maneuvering control scene under the condition of external noise interference, avoids the use of global information of the system, realizes affine formation maneuvering control, and improves the system communication efficiency while realizing affine formation maneuvering control. And the sampling times of the self-subjects in the group, the communication times among individuals in the formation and the updating times of the control law are effectively reduced.

Description

technical field [0001] The invention relates to unmanned swarm formation maneuver control and information interaction technology, in particular to an unmanned swarm affine formation maneuver control method based on sparse sampling and information interaction under a directed communication topology and does not rely on global information. Background technique [0002] Due to its wide application in the fields of military, aerospace and rescue, the problem of unmanned swarm formation maneuver control has become a major research direction in the field of multi-agent cooperative control. Among them, the affine formation maneuver control method has become a major research focus in the field of formation maneuver control due to its excellent maneuverability and good portability. [0003] Most of the existing affine formation maneuver control methods rely on continuous information interaction. When large-scale unmanned swarms cooperate in tasks, the communication channel is often b...

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Problems solved by technology

[0005] The present invention provides an unmanned swarm affine formation maneuver control method based on sparse sampling and information interaction. The purpose is to provide an unmanned swarm affine formation maneuver control application scenario and provide a sparse sampling information interaction method under a directed communication topology. , to solve the problems of limited system communication bandwidth and insufficient individual power supply energy in the system caused by too frequent communication and sampling frequency in the formation maneuver control scene in the case of external noise interference, while avoiding the use of global information of the system

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