Conical obstacle avoidance method and system for cruise missile formation based on two-hop network

Abstract

The present invention discloses a method and system for avoiding conical obstacles of a cruise missile formation based on a two-hop network, and relates to the field of collaborative guidance and control algorithms for multiple aircraft. The method includes constructing a cruise missile model, determining the state variables of the cruise missile model, and the communication topology of the cruise missile formation; constructing a cruise missile cone obstacle model, and a β agent is constructed on the obstacle surface in the cruise missile cone obstacle model; constructing a cruise missile formation sub-control law algorithm, and the cruise missile formation sub-control law includes a formation keeping control law, a navigation feedback control law, and a formation obstacle avoidance control law; updating the state of the β agent, and updating the position and position speed of the β agent; constructing a cruise missile formation cone obstacle avoidance algorithm, and setting the initial state of the cruise missile formation. The present invention can achieve the purpose of multiple cruise missile systems flying in formation at a desired speed and formation.

Description

Technical Field

[0001] The present invention relates to the field of multi-aircraft collaborative guidance and control algorithms, and in particular to a conical obstacle avoidance method and system for a cruise missile formation based on a two-hop network. Background Art

[0002] As a new type of guided munition, cruise missiles are used on a large scale in increasingly complex battlefield environments. Cruise missiles have functions such as reconnaissance and search, coordinated attack, and damage assessment. However, due to the limited power and mission load of a single cruise missile, it often appears in the form of a cluster formation in combat missions. In actual applications, cruise missile formations will inevitably encounter obstacles during flight, especially when flying between high mountains to avoid radar detection and attacking targets behind high mountains. This places high demands on the formation control and obstacle avoidance technology of cruise missiles. Therefore, it is of great significance to model mountains as conical obstacles and invent a fast and efficient conical obstacle method for cruise missile formations.

[0003] Regarding the formation obstacle avoidance control method, the research in the relevant field mainly considers the solution based on the consistency algorithm of the UAV platform, and there is less research on the formation control and obstacle avoidance problem of cruise missiles. Patent CN110865655B proposes a formation and obstacle avoidance control method for UAVs, which solves the problem of poor obstacle avoidance when UAVs maintain formation navigation and the inability to regroup after obstacle avoidance, but this method is only applicable to two-dimensional obstacle avoidance and cannot be applied to three-dimensional obstacle situations. Patent CN112947571A proposes a method for forming and maintaining a UAV formation with an artificial potential field and a virtual navigator. By constructing an attraction and repulsion model between UAVs and a repulsion model between UAVs and obstacles, the speed and position information of the UAV formation is continuously updated to avoid obstacles. However, the communication topology structure design of this method is relatively simple, and a lot of information will be lost during the obstacle avoidance process, which has certain limitations.

[0004] Therefore, how a cruise missile formation can efficiently avoid conical obstacles under a limited communication network topology is a technical problem that people in this field need to solve urgently. Summary of the invention

[0005] In view of the defects existing in the prior art, the purpose of the present invention is to provide a conical obstacle avoidance method and system for a cruise missile formation based on a two-hop network, which can achieve the purpose of multiple cruise missile systems flying in formation at a desired speed and formation.

[0006] To achieve the above objectives, the present invention provides a method for avoiding cone obstacles of a cruise missile formation based on a two-hop network, which specifically includes the following steps:

[0007] Construct a cruise missile model and determine the state variables of the cruise missile model and the communication topology of the cruise missile formation;

[0008] Constructing a conical obstacle model for a cruise missile, wherein a β agent is constructed on the obstacle surface of the conical obstacle model for the cruise missile, wherein the β agent is a moving agent located at the boundary of the obstacle, and each cruise missile corresponds to a β agent during the obstacle avoidance process;

[0009] Constructing a cruise missile formation sub-control law algorithm, wherein the cruise missile formation sub-control law includes a formation keeping control law, a navigation feedback control law and a formation obstacle avoidance control law;

[0010] Update the state of the β-agent, and update the position and position speed of the β-agent;

[0011] The cone obstacle avoidance algorithm for the cruise missile formation is constructed, and the initial state of the cruise missile formation is set.

[0012] On the basis of the above technical solution, the state variables of the cruise missile model are determined, wherein the determined state model of the cruise missile is:

[0013]

[0014] Among them, r i represents the three-dimensional coordinates of the i-th cruise missile in the inertial coordinate system, v i Indicates speed, u i represents the control law, and n represents a positive integer.

[0015] Based on the above technical solution, the communication topology of the cruise missile formation is specifically defined as:

[0016]

[0017] in, represents other cruise missiles within the communication radius of the i-th cruise missile, that is, the adjacent set of the i-th cruise missile, V α represents the vertex set, |||| represents the Euclidean norm, r j represents the three-dimensional coordinate of the jth cruise missile in the inertial coordinate system, and r represents the communication radius between cruise missiles.

[0018] On the basis of the above technical solution, the cruise missile cone obstacle model is constructed, wherein the adjacency set of the β agent is defined as:

[0019]

[0020] in, represents the adjacent set of β-agent, V β represents the indicator set of β-agent, r i,krepresents the position of the β-agent generated by the i-th cruise missile on the obstacle boundary, r′ represents the communication radius of the cruise missile to the β-agent, and k represents a positive constant.

[0021] Based on the above technical solutions,

[0022] The formation keeping control law is specifically expressed as:

[0023]

[0024] in, represents the formation keeping control law, Ν(ξ,i) represents the single-hop network set of the multi-cruise missile system network topology, and Ν(ξ 2 ,i) represents a two-hop network set, a ij represents the adjacency matrix of a single-hop network, γ1 and γ2 both represent parameters, δ i represents the absolute deviation between the i-th cruise missile and the geometric center point of the expected formation, a ik represents the adjacency matrix of the two-hop network, δ j represents the absolute deviation between the jth cruise missile and the geometric center point of the expected formation, v j represents the speed of the jth cruise missile, v i represents the speed of the i-th cruise missile, r k represents the position of the kth cruise missile in the two-hop network, δ k represents the absolute deviation between the kth cruise missile in the two-hop network and the geometric center of the expected formation, v k represents the speed of the kth cruise missile in the two-hop network;

[0025] The navigation feedback control law is specifically expressed as:

[0026]

[0027] in, represents the navigation feedback control law, α and β are parameters, r d represents the expected displacement of the geometric center point of the expected formation, v d Indicates the expected speed;

[0028] The formation obstacle avoidance control law is specifically expressed as:

[0029]

[0030] in, represents the formation obstacle avoidance control law, k represents a positive constant, d β =||d|| σ , d represents the expected distance between the cruise missile and the β agent, σ represents the norm, ψ βrepresents the artificial potential field function of the cruise missile and the β-agent, v i，k represents the position and velocity of the β agent, τ represents the norm, and b i,k (r) represents the communication network structure between the cruise missile and the β-agent, represents the adjacency set of β-agent, Represents the distance relationship between the cruise missile and the β agent.

[0031] Based on the above technical solution, the position calculation method of the β agent is:

[0032] r i,k =μr i +(1-μ)ρ k

[0033] Among them, ρ k represents the center of the circle formed by the intersection of the conical obstacle and the plane where the cruise missile is located, μ represents the radius of the circle formed by the intersection of the conical obstacle and the plane where the cruise missile is located, and the ratio of the distance from the cruise missile to the β agent.

[0034] Based on the above technical solution, the position and velocity of the β agent are calculated as follows:

[0035]

[0036] Among them, κ is a constant, and its value is 10. Indicates the velocity direction of the β-agent.

[0037] On the basis of the above technical solution, the construction obtains the cone obstacle avoidance algorithm for cruise missile formation, and the specific steps include:

[0038] The formation keeping control law, navigation feedback control law and formation obstacle avoidance control law are combined:

[0039]

[0040] The formation control and obstacle avoidance control algorithms in the case of cone obstacles are constructed:

[0041]

[0042] Among them, u i represents the control law obtained after merging.

[0043] On the basis of the above technical solution, the initial state of the cruise missile formation is set, and the specific steps include:

[0044] Set the starting coordinates and initial speed of the cruise missile;

[0045] Based on the starting coordinates and initial velocity set for the cruise missile, the control law u i As control input, the conical obstacle avoidance flight of the cruise missile is realized.

[0046] The present invention provides a conical obstacle avoidance system for cruise missile formation based on a two-hop network, comprising:

[0047] A first construction unit is used to construct a cruise missile model and determine state variables of the cruise missile model and a communication topology structure of the cruise missile formation;

[0048] A second construction unit is used to construct a conical obstacle model of a cruise missile, and a β agent is constructed on the obstacle surface in the conical obstacle model of the cruise missile. The β agent is a moving agent located at the boundary of the obstacle, and each cruise missile corresponds to a β agent during the obstacle avoidance process;

[0049] A third construction unit is used to construct a cruise missile formation sub-control law algorithm, wherein the cruise missile formation sub-control law includes a formation keeping control law, a navigation feedback control law and a formation obstacle avoidance control law;

[0050] An updating unit, which is used to update the state of the β-agent, and update the position and position speed of the β-agent;

[0051] The obstacle avoidance algorithm construction unit is used to construct a cone obstacle avoidance algorithm for the cruise missile formation and set the initial state of the cruise missile formation.

[0052] Compared with the prior art, the advantages of the present invention are: according to the mountain obstacles encountered in the actual flight process, the model is conized, and the artificial potential energy function is used and optimized to adapt to the performance of the cruise missile, and the original two-dimensional plane obstacle avoidance algorithm is extended to three-dimensional space. The advantage of the fast convergence speed of the two-hop network consistency algorithm is utilized to study and design a multi-cruise missile formation flight control algorithm in the presence of conical obstacles, thereby achieving the purpose of the multi-cruise missile system flying in formation at the desired speed and formation. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 It is a flow chart of a conical obstacle avoidance method for cruise missile formation based on a two-hop network in an embodiment of the present invention;

[0055] Figure 2It is the front view of the cone obstacle;

[0056] Figure 3 It is the top view of the cone obstacle;

[0057] Figure 4 This is a schematic diagram of the communication topology and formation composition of the cruise missile formation in a two-hop network. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0059] See also Figure 1 As shown, an embodiment of the present invention provides a conical obstacle avoidance method for a cruise missile formation based on a two-hop network. Aiming at the cruise missile formation control problem under a fixed communication network topology, a control algorithm for rapid formation and obstacle avoidance of cruise missiles in the presence of conical obstacles is designed. On the basis of the traditional consistency protocol, the concept of a two-hop network is introduced to enhance the connectivity of the communication network of the cruise missile cluster, and to achieve rapid formation of the cruise missile cluster. At the same time, the mountain obstacle is conized, and the shortest path from the β agent at the intersection of the current plane of the cruise missile and the conical obstacle to the farthest hypotenuse is calculated to guide the cruise missile to avoid obstacles. In order to adapt to the actual performance parameters of the cruise missile, a new coefficient function is designed based on the original artificial potential field function, and combined with the two-hop network, rapid formation and conical obstacle avoidance of the cruise missile cluster in three dimensions are achieved. The conical obstacle avoidance method for a cruise missile formation of the present invention specifically includes the following steps:

[0060] S1: Construct a cruise missile model and determine the state variables of the cruise missile model and the communication topology of the cruise missile formation;

[0061] S2: construct a conical obstacle model for cruise missiles, and a β agent is constructed on the obstacle surface in the conical obstacle model for cruise missiles. The β agent is a moving agent located at the boundary of the obstacle, and each cruise missile corresponds to a β agent during the obstacle avoidance process;

[0062] S3: constructing a cruise missile formation sub-control law algorithm, wherein the cruise missile formation sub-control law includes a formation keeping control law, a navigation feedback control law and a formation obstacle avoidance control law;

[0063] S4: Update the state of the β-agent, and update the position and position speed of the β-agent;

[0064] S5: Construct a cone obstacle avoidance algorithm for the cruise missile formation and set the initial state of the cruise missile formation.

[0065] In the embodiment of the present invention, the state variables of the cruise missile model are determined, wherein the determined state model of the cruise missile is:

[0066]

[0067] Among them, r i represents the three-dimensional coordinates of the i-th cruise missile in the inertial coordinate system, v i Indicates speed, u i represents the control law, and n represents a positive integer. In the present invention, the maximum speed of the cruise missile is set to V max =100m / s, the maximum acceleration of the cruise missile is a′ max =10m / s 2 .

[0068] Taking into account the performance parameters of the real cruise missile, based on the above state model, the speed limit of the cruise missile is introduced (the maximum speed of the cruise missile is V max ) and acceleration limit (the maximum acceleration of the cruise missile is a′ max ), the constraints are as follows:

[0069]

[0070]

[0071] In the embodiment of the present invention, the communication topology structure of the cruise missile formation is specifically defined as:

[0072]

[0073] in, represents other cruise missiles within the communication radius of the i-th cruise missile, that is, the adjacent set of the i-th cruise missile, V α represents the vertex set, |||| represents the Euclidean norm, r j represents the three-dimensional coordinate of the jth cruise missile in the inertial coordinate system, and r represents the communication radius between cruise missiles.

[0074] The present invention uses a directed graph G = (V, ε) to represent the topological structure of the multi-cruise missile system communication network, where V α ={1,2,···,n} represents a vertex set, and each vertex corresponds to a cruise missile one-to-one. Represents a set of edges. For a directed graph with n nodes, the adjacency matrix A is defined as [a ij ](i,j=1,2,···,n), if there exists a i To V j connection, then , otherwise a ij = 0. The Laplacian matrix L of the directed graph = [lij ](i,j=1,2···,n), where, In order to make the multi-cruise missile system converge faster, this paper introduces a two-hop network in the communication network topology of the system. Each cruise missile not only sends its own information, but also sends the information of its leader, which is equivalent to adding a virtual communication link in the communication network topology diagram, increasing the connectivity of its communication network. Cruise missiles in the adjacent set can communicate with each other.

[0075] In the present invention, r is set to 15m, the cruise missile system has six cruise missiles, and the formation of the cruise missile system and the topology of the communication network are as follows: Figure 4 As shown, Figure 4 The middle dashed line represents the communication network of the two-hop network.

[0076] In the embodiment of the present invention, a conical obstacle model of a cruise missile is constructed, wherein the adjacency set of the β agent is defined as:

[0077]

[0078] in, represents the adjacent set of β-agent, V β represents the indicator set of β-agent, r i,k represents the position of the β-agent generated by the i-th cruise missile on the obstacle boundary, r′ represents the communication radius of the cruise missile to the β-agent, and k represents a positive constant.

[0079] In order to describe the obstacle model, the present invention constructs a β agent on the obstacle surface. The β agent is a moving agent located at the boundary of the obstacle. Each cruise missile corresponds to a β agent during the obstacle avoidance process. The obstacle avoidance action of the cruise missile is mainly completed by sensing the β agent. β ={1′,2′,···,n′} represents the indicator set of β-agent, and r i,k and v i,k Indicates that the i-th cruise missile is at obstacle O k The positions and velocities of the spawned beta agents on the boundary.

[0080] When ||r i,k -r i When ||<r′, it means that the distance between the cruise missile and the β-agent is less than the communication radius r′, which means that the cruise missile can sense the obstacle. During the movement of the cruise missile, due to the repulsive force between the cruise missile and the β-agent, the β-agent will move on the boundary of the obstacle.

[0081] In the embodiment of the present invention, the formation keeping control law is specifically expressed as:

[0082]

[0083] in, represents the formation keeping control law, Ν(ξ,i) represents the single-hop network set of the multi-cruise missile system network topology, and Ν(ξ 2 ,i) represents a two-hop network set, a ij represents the adjacency matrix of a single-hop network, γ1 and γ2 both represent parameters, δ i represents the absolute deviation between the i-th cruise missile and the geometric center point of the expected formation, a ik represents the adjacency matrix of the two-hop network, δ j represents the absolute deviation between the jth cruise missile and the geometric center point of the expected formation, v j represents the speed of the jth cruise missile, v i represents the speed of the i-th cruise missile, r k represents the position of the kth cruise missile in the two-hop network, δ k represents the absolute deviation between the kth cruise missile in the two-hop network and the geometric center of the expected formation, v k represents the speed of the kth cruise missile in the two-hop network; by adjusting δ i The value of can adjust the formation of the desired formation, but δ i The value of requires selecting a reference point for comparing the position of the cruise missile.

[0084] In the embodiment of the present invention, the navigation feedback control law is specifically expressed as:

[0085]

[0086] in, represents the navigation feedback control law, α and β are parameters, r d represents the expected displacement of the geometric center point of the expected formation, v d Indicates the expected speed;

[0087] Based on the traditional consistency protocol, the above absolute deviation δ is introduced i , allowing the multi-cruise missile system to maintain its formation more stably while maintaining the desired speed.

[0088] In the embodiment of the present invention, the formation obstacle avoidance control law is specifically expressed as:

[0089]

[0090] in, represents the formation obstacle avoidance control law, k represents a positive constant, d β =||d|| σ , d represents the expected distance between the cruise missile and the β agent, σ represents the norm, ψ β represents the artificial potential field function of the cruise missile and the β-agent, vi,k represents the position and velocity of the β agent, b i,k (r) represents the communication network structure between the cruise missile and the β-agent, τ represents the norm, represents the adjacency set of β-agent, Represents the distance relationship between the cruise missile and the β agent. Based on the artificial potential energy function, the obstacle avoidance algorithm of the multi-cruise missile system is designed, and the formation obstacle avoidance control law is obtained.

[0091] In order to make the cruise missile move more smoothly during obstacle avoidance and more in line with the performance of a real cruise missile, the τ norm is defined:

[0092]

[0093] Among them, ζ>0, τ norm is used to describe the expected distance d during the obstacle avoidance process of the multi-cruise missile formation. β It is a multiple of the repulsive force function and has the following properties: The τ-norm is strictly increasing with respect to ||z||.

[0094] In the embodiment of the present invention, the position of the β agent is calculated as follows:

[0095] r i,k =μr i +(1-μ)ρ k

[0096] Among them, ρ k represents the center of the circle formed by the intersection of the conical obstacle and the plane where the cruise missile is located, μ represents the radius of the circle formed by the intersection of the conical obstacle and the plane where the cruise missile is located, and the ratio of the distance from the cruise missile to the β agent.

[0097] For the cone obstacle O k , the center of its bottom circle is o k =(o kx ,o ky ,o kz ), the height of the cone is h k , then the angle between the hypotenuse of the cone and its perpendicular is ω k When the i-th cruise missile flies into the conical obstacle area, its position and speed are r i =(x i ,y i ,z i ),v i =(v xi ,v yi ,v zi ), the intersection of the conical obstacle and the plane where the cruise missile is located is a circle, and its center is ρ k The coordinates of k =(o kx,o ky ,z i ), circle radius r k =(h k +o kz -z i )tanω k . Take the flight height z of the i-th cruise missile i The cross-sectional circle of the cone obstacle on the plane ρ k , calculate the cross-sectional circle ρ at the current height k The position of the upper β agent.

[0098] r i,k =(r i,kx , r i,ky , r i,kz ) and v i,k =(v i,kx , v i,ky , v i,kz ) indicates that the i-th cruise missile is at the obstacle O k The position and velocity of the β-agent generated on the boundary. For a circular obstacle, the position of the β-agent is calculated as follows:

[0099] r i,k =μr i +(1-μ)ρ k

[0100] In the embodiment of the present invention, the position and velocity of the β agent are calculated as follows:

[0101]

[0102] Among them, κ is a constant, and its value is 10. Indicates the velocity direction of the β-agent.

[0103] There is a farthest hypotenuse AB on the hypotenuse of the cone for the β-agent, and its movement direction is determined by the shortest path from the current position of the β-agent to the hypotenuse AB. i,k The current position is represented by point E, ρ k It is represented by point F, such as Figure 2 and 3 shown.

[0104] Let α k =∠EFB, the length of hypotenuse AB is L k The shortest path from a point to a line is the perpendicular line from the point to the line, so Figure 2 In order to find the shortest path from point E to line segment AB, we only need to draw a perpendicular line EC through point E to AB. However, since the β-agent can only move on the surface of the conical obstacle, the determination of the shortest path needs to be divided into two cases.

[0105] When ∠EAB≥π / 2, the shortest path from point E to line segment AB is EA, and the velocity direction of β-agent is The speed of β intelligence is:

[0106]

[0107] Where κ>0.

[0108] When ∠EAB<π / 2, the shortest path from point E to line segment AB is EC, such as Figure 2 As shown, the speed direction of the β agent is Represents the curve passing through point E The tangent vector of :

[0109]

[0110]

[0111]

[0112] sgn is the signal function:

[0113]

[0114] At this time, the speed of the β agent is:

[0115]

[0116] In the embodiment of the present invention, a cone obstacle avoidance algorithm for a cruise missile formation is constructed, and the specific steps include:

[0117] The formation keeping control law, navigation feedback control law and formation obstacle avoidance control law are combined:

[0118]

[0119] The formation control and obstacle avoidance control algorithms in the case of cone obstacles are constructed:

[0120]

[0121] Among them, u i represents the control law obtained after merging.

[0122] The control objective of the algorithm of the present invention is to control the law u iUnder the input of , the multi-cruise missile system can form a certain formation flight movement, avoid collision with neighboring cruise missiles during the movement, generate effective obstacle avoidance actions when encountering obstacles, and cluster again to form the previous flight formation after completing the obstacle avoidance action. In order to realize the rapid formation, formation maintenance and formation obstacle avoidance of the multi-cruise missile system, the formation maintenance control law, navigation feedback control law and formation obstacle avoidance control law are combined into the control law u i .

[0123] In the embodiment of the present invention, the initial state of the cruise missile formation is set, and the specific steps include:

[0124] Set the starting coordinates and initial speed of the cruise missile; for example, the starting point coordinates of the cruise missile (r x ,r y ,r z ) is randomly distributed in the range of [-100,-180]×[0,40]×[-10,60], and the initial velocity (v x ,v y ,v z ) are randomly distributed in the range of [-10,10]×[-10,10]×[-10,10], and the simulation step size is set to 0.02 seconds.

[0125] Based on the starting coordinates and initial velocity set for the cruise missile, the control law u i As control input, the conical obstacle avoidance flight of the cruise missile is realized.

[0126] The conical obstacle avoidance algorithm for cruise missiles based on a two-hop network proposed in the present invention conizes the model according to the mountain obstacles encountered in the actual flight process, optimizes it by using an artificial potential energy function to adapt it to the performance of the cruise missile, and expands the original two-dimensional plane obstacle avoidance algorithm to three-dimensional space. By taking advantage of the fast convergence speed of the two-hop network consistency algorithm, a multi-cruise missile formation flight control algorithm in the presence of conical obstacles is studied and designed, thereby achieving the purpose of the multi-cruise missile system flying in formation at the desired speed and formation.

[0127] The conical obstacle avoidance method for cruise missiles based on two-hop networks proposed in the present invention has the following advantages:

[0128] (1) The communication topology of the traditional formation control algorithm basically assumes an undirected graph of two-way communication, but the actual communication topology cannot guarantee the two-way transmission of information, so the directed graph of the present invention is more practical; the convergence of the two-hop network in low-order systems has been fully demonstrated, but there is a lack of relevant research in high-order systems. In addition, when there are obstacles in the system, the present invention verifies that the two-hop network converges faster and has better robustness than the traditional communication topology.

[0129] (2) In reality, the obstacles encountered by multiple cruise missiles during their formation flight are often mountain peaks. The present invention conizes the mountain obstacle model, uses an artificial potential energy function and optimizes it to adapt it to the performance of cruise missiles, and expands the original two-dimensional plane obstacle avoidance algorithm to three-dimensional space. By taking advantage of the fast convergence speed of the two-hop network consistency algorithm, a multi-cruise missile formation flight control algorithm in the presence of conical obstacles is studied and designed, thereby achieving the purpose of the multi-cruise missile system flying in formation at the desired speed and formation.

[0130] An embodiment of the present invention provides a two-hop network-based cruise missile formation cone obstacle avoidance system, which includes a first construction unit, a second construction unit, a third construction unit, an update unit and an obstacle avoidance algorithm construction unit.

[0131] The first construction unit is used to construct a cruise missile model and determine the state variables of the cruise missile model and the communication topology of the cruise missile formation; the second construction unit is used to construct a cruise missile cone obstacle model, and a β agent is constructed on the obstacle surface in the cruise missile cone obstacle model, wherein the β agent is a motion agent located at the boundary of the obstacle, and each cruise missile corresponds to a β agent during the obstacle avoidance process; the third construction unit is used to construct a cruise missile formation sub-control law algorithm, wherein the cruise missile formation sub-control law includes a formation maintenance control law, a navigation feedback control law and a formation obstacle avoidance control law; the update unit is used to update the state of the β agent, and update the position and position speed of the β agent; the obstacle avoidance algorithm construction unit is used to construct a cruise missile formation cone obstacle avoidance algorithm and set the initial state of the cruise missile formation.

[0132] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

[0133] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A conical obstacle avoidance method for cruise missile formation based on two-hop network, characterized in that: The specific steps include: Construct a cruise missile model and determine the state variables of the cruise missile model and the communication topology of the cruise missile formation; Constructing a conical obstacle model for a cruise missile, wherein a β agent is constructed on the obstacle surface of the conical obstacle model for the cruise missile, wherein the β agent is a moving agent located at the boundary of the obstacle, and each cruise missile corresponds to a β agent during the obstacle avoidance process; Constructing a cruise missile formation sub-control law algorithm, wherein the cruise missile formation sub-control law includes a formation keeping control law, a navigation feedback control law and a formation obstacle avoidance control law; Update the state of the β-agent, and update the position and position speed of the β-agent; Construct a cone obstacle avoidance algorithm for the cruise missile formation and set the initial state of the cruise missile formation; Wherein, the state variables of the cruise missile model are determined, wherein the state model of the cruise missile is determined as follows: Among them, r i represents the three-dimensional coordinates of the i-th cruise missile in the inertial coordinate system, v i Indicates speed, u i represents the control law, n represents a positive integer; Among them, the communication topology structure of the cruise missile formation is specifically defined as: in, represents other cruise missiles within the communication radius of the i-th cruise missile, that is, the adjacent set of the i-th cruise missile, V α represents the vertex set, || || represents the Euclidean norm, r j represents the three-dimensional coordinates of the jth cruise missile in the inertial coordinate system, and r represents the communication radius between cruise missiles; Among them, the cruise missile cone obstacle model is constructed, wherein the adjacency set for the β agent is defined as: in, represents the adjacency set of β-agent, V β represents the indicator set of β-agent, r i,k represents the position of the β-agent generated by the i-th cruise missile on the obstacle boundary, r′ represents the communication radius of the cruise missile to the β-agent, and k represents a positive constant; in, The formation keeping control law is specifically expressed as: Among them, f i α represents the formation keeping control law, Ν(ξ,i) represents the single-hop network set of the multi-cruise missile system network topology, and Ν(ξ 2 ,i) represents a two-hop network set, a ij represents the adjacency matrix of a single-hop network, γ1 and γ2 both represent parameters, δ i represents the absolute deviation between the i-th cruise missile and the geometric center point of the expected formation, a ik represents the adjacency matrix of the two-hop network, δ j represents the absolute deviation between the jth cruise missile and the geometric center point of the expected formation, v j represents the speed of the jth cruise missile, v i represents the speed of the i-th cruise missile, r k represents the position of the kth cruise missile in the two-hop network, δ k represents the absolute deviation between the kth cruise missile in the two-hop network and the geometric center of the expected formation, v k represents the speed of the kth cruise missile in the two-hop network; The navigation feedback control law is specifically expressed as: f i γ =v d -a(v i -v d )-β(r i -r d -d i ) Among them, f i γ represents the navigation feedback control law, α and β are parameters, r d represents the expected displacement of the geometric center point of the expected formation, v d Indicates the expected speed; The formation obstacle avoidance control law is specifically expressed as: Among them, f i β represents the formation obstacle avoidance control law, k represents a positive constant, d β =||d|| σ , d represents the expected distance between the cruise missile and the β agent, σ represents the norm, ψ β represents the artificial potential field function of the cruise missile and the β-agent, v i,k represents the position and velocity of the β agent, τ represents the norm, and b i,k (r) represents the communication network structure between the cruise missile and the β-agent, represents the adjacency set of β-agent, Represents the distance relationship between the cruise missile and the β agent.

2. The method for avoiding cone obstacles of cruise missile formation based on two-hop network as claimed in claim 1, characterized in that: The position of the β agent is calculated as follows: r i,k =μr i +(1-μ)ρ k Among them, ρ k represents the center of the circle formed by the intersection of the conical obstacle and the plane where the cruise missile is located, μ represents the radius of the circle formed by the intersection of the conical obstacle and the plane where the cruise missile is located, and the ratio of the distance from the cruise missile to the β agent.

3. The method for avoiding cone obstacles of cruise missile formation based on two-hop network as claimed in claim 2, characterized in that: The position and velocity of the β agent are calculated as follows: Among them, κ is a constant, and its value is 10. Indicates the velocity direction of the β-agent.

4. The method for avoiding cone obstacles of cruise missile formation based on two-hop network as claimed in claim 3, characterized in that: The above construction obtains the cone obstacle avoidance algorithm for cruise missile formation, and the specific steps include: The formation keeping control law, navigation feedback control law and formation obstacle avoidance control law are combined: u i =f i α +f i β +f i γ ,i=1,2,…,n; The formation control and obstacle avoidance control algorithms in the case of cone obstacles are constructed: Among them, u i represents the control law obtained after merging.

5. The method for avoiding cone obstacles of cruise missile formation based on two-hop network as claimed in claim 4, characterized in that: The initial state of the cruise missile formation is set, and the specific steps include: Set the starting coordinates and initial speed of the cruise missile; Based on the starting coordinates and initial velocity set for the cruise missile, the control law u i As control input, the conical obstacle avoidance flight of the cruise missile is realized.

6. A conical obstacle avoidance system for cruise missile formation based on a two-hop network, characterized in that: include: A first construction unit is used to construct a cruise missile model and determine state variables of the cruise missile model and a communication topology structure of the cruise missile formation; A second construction unit is used to construct a conical obstacle model of a cruise missile, and a β agent is constructed on the obstacle surface in the conical obstacle model of the cruise missile. The β agent is a moving agent located at the boundary of the obstacle, and each cruise missile corresponds to a β agent during the obstacle avoidance process; A third construction unit is used to construct a cruise missile formation sub-control law algorithm, wherein the cruise missile formation sub-control law includes a formation keeping control law, a navigation feedback control law and a formation obstacle avoidance control law; An updating unit, which is used to update the state of the β-agent, and update the position and position speed of the β-agent; An obstacle avoidance algorithm construction unit, which is used to construct a cone obstacle avoidance algorithm for the cruise missile formation and set the initial state of the cruise missile formation; Wherein, the state variables of the cruise missile model are determined, wherein the state model of the cruise missile is determined as follows: Among them, r i represents the three-dimensional coordinates of the i-th cruise missile in the inertial coordinate system, v i Indicates speed, u i represents the control law, n represents a positive integer; Among them, the communication topology structure of the cruise missile formation is specifically defined as: in, represents other cruise missiles within the communication radius of the i-th cruise missile, that is, the adjacent set of the i-th cruise missile, V α represents the vertex set, || || represents the Euclidean norm, r j represents the three-dimensional coordinates of the jth cruise missile in the inertial coordinate system, and r represents the communication radius between cruise missiles; Among them, the cruise missile cone obstacle model is constructed, wherein the adjacency set for the β agent is defined as: in, represents the adjacent set of β-agent, V β represents the indicator set of β-agent, r i,k represents the position of the β-agent generated by the i-th cruise missile on the obstacle boundary, r′ represents the communication radius of the cruise missile to the β-agent, and k represents a positive constant; in, The formation keeping control law is specifically expressed as: Among them, f i α represents the formation keeping control law, Ν(ξ,i) represents the single-hop network set of the multi-cruise missile system network topology, and Ν(ξ 2 ,i) represents a two-hop network set, a ij represents the adjacency matrix of a single-hop network, γ1 and γ2 both represent parameters, δ i represents the absolute deviation between the i-th cruise missile and the geometric center point of the expected formation, a ik represents the adjacency matrix of the two-hop network, δ j represents the absolute deviation between the jth cruise missile and the geometric center point of the expected formation, v j represents the speed of the jth cruise missile, v i represents the speed of the i-th cruise missile, r k represents the position of the kth cruise missile in the two-hop network, δ k represents the absolute deviation between the kth cruise missile in the two-hop network and the geometric center of the expected formation, v k represents the speed of the kth cruise missile in the two-hop network; The navigation feedback control law is specifically expressed as: f i γ =v d -a(v i -v d )-β(r i -r d -d i ) Among them, f i γ represents the navigation feedback control law, α and β are parameters, r d represents the expected displacement of the geometric center point of the expected formation, v d Indicates the expected speed; The formation obstacle avoidance control law is specifically expressed as: Among them, f i β represents the formation obstacle avoidance control law, k represents a positive constant, d β =||d|| σ , d represents the expected distance between the cruise missile and the β agent, σ represents the norm, ψ β represents the artificial potential field function of the cruise missile and the β-agent, v i,k represents the position and velocity of the β agent, τ represents the norm, and b i,k (r) represents the communication network structure between the cruise missile and the β-agent, represents the adjacency set of β-agent, Represents the distance relationship between the cruise missile and the β agent.

Images