Relay group random walk path planning method, apparatus and device, and storage medium

Abstract

The invention relates to a relay group random walk path planning method and device, equipment and a storage medium, and the method comprises the steps: randomly selecting one focus from two focuses for each moving tool carrying relay equipment in a relay group according to the positions of two virtual focuses in a designated region according to a communication distance; according to the distance and the angle between the selected focus and the position where the moving tool is located at the current moment, the direction and the speed of the motion vector of the moving tool at the next moment are determined; the motion vector of the next moment is determined through the distance and the angle between the randomly selected focus and the current position, so that the random walk of each relay device in the specified area is realized. The motion trail of the relay device generated by the method shows complex three-dimensional random characteristics in time and space, and traceability of an adversarial party is effectively prevented.

Description

Technical Field

[0001] The present application relates to the technical field of relay group device path planning, and in particular to a relay group random walk path planning method, device, equipment and storage medium. Background Art

[0002] In modern complex confrontation environments, relay nodes occupy a core position in the communication link between terminal devices such as drones and control centers, especially when the communication environment is complex, changeable and full of potential interference. These relay nodes are usually used to enhance the signal transmission quality between devices, overcome terrain obstacles and signal shielding, and ensure that terminal devices can maintain stable and continuous communication with the control center.

[0003] However, in the current adversarial environment, traditional relay node deployment methods are often set up based on a fixed communication range. Although this fixed layout method can cover a specific area, it also brings certain risks. In particular, it is easy for the outside world to reversely trace the signal path of the positioning terminal device (such as a drone) and then discover the location of the relay node. This feature makes relay nodes easily exposed when facing signal interception, interference or precision strikes, which may cause the nodes to be attacked or damaged, affecting the stability and efficiency of the overall communication network and causing unavoidable losses. This potential security risk not only poses a threat to the continuity of the communication network, but also affects the security and confidentiality of information transmission.

[0004] Therefore, how to enhance the security and concealment of relay nodes in adversarial environments and improve the network's adaptability and dynamic response level has become an urgent problem to be solved. This challenge requires more flexible deployment methods and intelligent communication strategies to cope with increasingly complex external interference and potential threats. Summary of the invention

[0005] Based on this, it is necessary to provide a relay group random walk path planning method, device, equipment and storage medium that can improve concealment and security in response to the above technical problems.

[0006] A relay group random walk path planning method, the method is implemented on a plurality of mobile tools carrying relay devices in the relay group, comprising:

[0007] Two positions are set in the designated area according to the communication distance, and two virtual focal points are respectively set at the two positions;

[0008] For each moving tool, a focus is randomly selected from the two focus points, and the direction and speed of the moving tool's motion vector at the next moment are determined according to the distance and angle between the selected focus point and the current position of the moving tool;

[0009] At each moment, each mobile tool in the relay group determines the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position, thereby realizing the random wandering of each relay device in the designated area.

[0010] In one embodiment, the fixed positions of the two virtual focal points are determined according to the communication distance.

[0011] In one embodiment, the mobile tool is a ground robot or an unmanned surface vessel;

[0012] Or use ground robots and surface unmanned vessels as both mobility tools.

[0013] In one embodiment, when determining the direction and speed of the motion vector of the moving tool at the next moment according to the distance and angle between the selected focus and the current position of the moving tool:

[0014] According to the distance and angle between the selected focus and the current position of the mobile tool, the probability of the mobile tool moving in a certain direction at the next moment is obtained, and the moving direction of the mobile tool at the next moment is determined according to the probability, wherein the probability obeys the negative exponential distribution law;

[0015] The movement speed of the moving tool at the next moment obeys the distribution law of 0-1.

[0016] In one embodiment, the probability is expressed as:

[0017] p(α,r)=λe -λα

[0018] in,

[0019] In the above formula, α represents the angle between the selection focus and the current position of the moving tool, and r represents the distance between the selection focus and the current position of the moving tool.

[0020] In one embodiment, the movement direction and speed of the moving tool at the next moment are described as randomly generated functions, expressed as:

[0021] ω=rand_generate(p(α,r))

[0022] v = rand_generate(vh,vl)

[0023] In the above formula, ω represents the direction of movement, v represents the speed, and vh and vl represent the high speed and low speed of the moving tool respectively.

[0024] In one embodiment, the positions of the two focal points are dynamically adjusted according to the strength of the communication signal at each moment.

[0025] The present application also provides a relay group random walk path planning device, the device comprising:

[0026] A dual-focus position determination module is used to set two positions in a specified area according to the communication distance, and to set two virtual focal points at the two positions respectively;

[0027] A moving tool motion vector random determination module is used to randomly select a focus from two focuses for each moving tool, and determine the direction and speed of the moving tool motion vector at the next moment according to the distance and angle between the selected focus and the current position of the moving tool;

[0028] The relay group random walk route obtaining module is used for each mobile tool in the relay group to determine the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position at each moment, so as to realize the random walk of each relay device in the specified area.

[0029] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0030] Two positions are set in the designated area according to the communication distance, and two virtual focal points are respectively set at the two positions;

[0031] For each moving tool, a focus is randomly selected from the two focus points, and the direction and speed of the moving tool's motion vector at the next moment are determined according to the distance and angle between the selected focus point and the current position of the moving tool;

[0032] At each moment, each mobile tool in the relay group determines the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position, thereby realizing the random wandering of each relay device in the designated area.

[0033] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0034] Two positions are set in the designated area according to the communication distance, and two virtual focal points are respectively set at the two positions;

[0035] For each moving tool, a focus is randomly selected from the two focus points, and the direction and speed of the moving tool's motion vector at the next moment are determined according to the distance and angle between the selected focus point and the current position of the moving tool;

[0036] At each moment, each mobile tool in the relay group determines the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position, thereby realizing the random wandering of each relay device in the designated area.

[0037] The above-mentioned relay group random walk path planning method, device, equipment and storage medium randomly select a focus from the two focuses for each mobile tool carrying a relay device in the relay group according to the position of the two virtual focuses in the specified area according to the communication distance, and determine the direction and speed of the motion vector of the mobile tool at the next moment according to the distance and angle between the selected focus and the current position of the mobile tool. Then, each mobile tool in the relay group determines the motion vector at the next moment according to the distance and angle between the randomly selected focus and the current position at each moment, thereby realizing the random walk of each relay device in the specified area. The motion trajectory of the relay device generated by this method presents complex three-dimensional random characteristics in time and space, effectively preventing the adversary from tracing the source. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a process of a random walk path planning method for a relay group in one embodiment;

[0039] Figure 2 A schematic diagram of direction probability distribution in one embodiment;

[0040] Figure 3 A schematic diagram of a movement trajectory of a relay device obtained by using the method in an embodiment;

[0041] Figure 4 It is a structural block diagram of a relay group random walk path planning device in one embodiment;

[0042] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] In the existing technology, the relay equipment used for communication between terminals such as drones and control centers in complex confrontation environments is fixed, so that the adversary can trace the relay equipment based on the communication signal and find its location, which may cause the equipment to be attacked or damaged, affecting the stability and efficiency of the overall communication network, and causing unavoidable losses, such as Figure 1As shown, a relay group random walk path planning method is proposed, which is implemented on multiple mobile tools carrying relay devices in the relay group and includes the following steps:

[0045] Step S100: setting two positions in a designated area according to the communication distance, and setting two virtual focal points at the two positions respectively.

[0046] In step S110, a focus is randomly selected from two focuses for each moving tool, and the direction and speed of the moving tool's motion vector at the next moment are determined based on the distance and angle between the selected focus and the current position of the moving tool.

[0047] In step S120, each mobile tool in the relay group determines the motion vector at the next moment by the distance and angle between the randomly selected focus and the current position at each moment, thereby realizing random walking of each relay device in the specified area.

[0048] In this application, a relay device path planning method based on dual-focus random walk is proposed to ensure that it is difficult for the traceability type UAV system to trace the relay device. Even if the location information obtained through tracing is outdated, that is, the location information of the previous moment, the location information of the relay device at the current moment cannot be obtained, and the location information at the next moment is difficult to predict.

[0049] In step S100, there are multiple relay devices for terminal devices such as drones and the control center. This is because in a corresponding scene, there are multiple terminal devices, which can be individual drones or drone groups. Each relay device corresponds to an individual drone or a master drone in a drone group. The master drone obtains the control instructions from the control center through the corresponding relay device and then sends them to other drones in the group. Therefore, in this embodiment, a relay group is composed of multiple relay devices.

[0050] Furthermore, due to the importance of relay devices in the confrontation background, the entire relay group is set in a safe space, that is, a designated space, which is set in advance. In order to prevent the relay devices from being traced, in this method, each relay device is set on a corresponding mobile tool, and according to the specific terrain of the safe space, a ground robot or a surface unmanned ship is used as a mobile tool to carry the relay device. Alternatively, a ground robot and a surface unmanned ship are used as mobile tools at the same time.

[0051] Furthermore, in order to make the moving path of the mobile tool random during the entire process of the drone's mission execution, so that it is difficult for the adversary to predict the location of the relay device to ensure the safety of the drone, it is possible to consider using some form of random walk algorithm to drive each mobile tool.

[0052] Specifically, in the random process, the process of a particle (or particle, entity) moving randomly in physical space is simulated, such as smoke diffusion and Brownian motion of tiny particles on the surface of liquid. In the random walk process, the moving particle starts from an initial position in the specified state space. Each step randomly selects a direction and moves a certain distance according to a certain probability distribution law. Each step of movement is usually independent, and the direction probability and displacement distribution of each step only depend on the current state, and have nothing to do with the previous state or history. In a two-dimensional random walk, each step is centered on the current position and moves 360° around. Of course, the probability of each direction is not the same.

[0053] In this method, a dual-focus random walk method is proposed to drive the mobile tool to perform random motion. The central idea is that the moving particle performs random motion around different focal points at different times. Similar to the general random walk and Brownian motion, the particle will update the motion vector (motion direction and motion displacement) of the next cycle in each update cycle during the motion process, but the dual-focus random walk injects a certain deterministic component while the random motion, which can achieve random motion with a certain controllability. This is because the direction of the motion vector at the next moment of each step of the dual-focus random motion is driven by two factors, and its probability in a specific direction is p(α,r) which is a negative exponential distribution law, which is related to the focus radius at the current moment, that is, the distance r between the focus and the current position of the mobile tool, and the focus angle, that is, the angle α between the focus and the current position of the mobile tool.

[0054] In this embodiment, the fixed positions of the two virtual focal points are determined according to the communication distance.

[0055] In step S110, when determining the motion vector of the moving tool at the next moment, first randomly select a focus from the two focuses, and then determine the direction and speed of the motion vector of the moving tool at the next moment based on the distance and angle between the selected focus and the current position of the moving tool.

[0056] Specifically, based on the distance and angle between the selected focus and the current position of the mobile tool, the probability of the mobile tool moving in a certain direction at the next moment is obtained, and the movement direction of the mobile tool at the next moment is determined based on the probability, where the probability obeys the negative exponential distribution law.

[0057] Furthermore, the probability is expressed as:

[0058] p(α,r)=λe -λα

[0059] in,

[0060] In the above formula, α represents the angle between the selection focus and the current position of the moving tool, and r represents the distance between the selection focus and the current position of the moving tool.

[0061] like Figure 2 As shown in the figure, the relationship between the distribution of directional probability and distance is explained. When the distance between the moving particle, i.e. the moving tool, and the selected focus is different, the directional probability distribution of its motion vector at the next moment. When the focus is close, i.e., marked as r1 in the figure, the directional probability distribution is relatively uniform, and the length of the dotted line in the figure is relatively close. When the focus is far away, i.e., marked as r2 in the figure, the directional probability distribution begins to tilt significantly, and the probability density of the direction away from the focus will be significantly reduced. This algorithm can ensure that when the particle is far away from the focus, the probability of the motion direction tending to the focus being selected will be significantly increased. The external manifestation is that there seems to be some kind of "attraction" pulling the particle to the focus, and the probability of the motion direction away from the focus being selected will be significantly reduced, or even zero.

[0062] In this embodiment, the motion speed of the moving tool at the next moment follows the distribution rule of 0 to 1. The speed of the motion vector corresponds to the maneuvering speed of the particle, that is, the moving tool. Generally, high and low speeds are used together to further improve the speed complexity of the particle movement.

[0063] Based on the above analysis, the direction and speed of the motion vector are expressed as random generation functions:

[0064] ω=rand_generate(p(α,r))

[0065] v = rand_generate(vh,vl)

[0066] In the above formula, ω represents the direction of movement, v represents the speed, and vh and vl represent the high speed and low speed of the mobile tool, respectively. The high speed and low speed are set according to the performance of the mobile tool.

[0067] like Figure 3 As shown in the figure, it is the motion trajectory obtained by the dual-focus random walk method proposed by this method. In the figure, a robot dog is used to represent the UGV. It can be seen that the dual-focus operation mechanism makes the particle motion trajectory more random, and forms a natural match with the system structure of multiple particles, namely the relay group. Under the system topology structure of multiple particles, different focuses are allocated to different particles at different times, and the position of the focus can also be dynamically adjusted according to the strength of the signal. The resulting motion trajectory presents complex three-dimensional random characteristics in time and space, which can effectively hinder the enemy's tracing ability.

[0068] In this embodiment, in order to further complicate the wandering trajectory, the positions of the two focal points are dynamically adjusted according to the strength of the communication signal at each moment. When the communication signal is weak, both focal points will move closer to the command vehicle, that is, the focal position is also dynamically adjusted. In fact, the interval period of the intersection position adjustment is relatively long.

[0069] In the above-mentioned relay group random walk path planning method, according to the position of two virtual focal points in the specified area according to the communication distance, a focal point is randomly selected from the two focal points for each mobile tool carrying a relay device in the relay group, and the direction and speed of the motion vector of the mobile tool at the next moment are determined according to the distance and angle between the selected focal point and the current position of the mobile tool. Then, at each moment, each mobile tool in the relay group determines the motion vector at the next moment by the distance and angle between the randomly selected focal point and the current position, thereby realizing the random walk of each relay device in the specified area. The motion trajectory of the relay device generated by this method presents complex three-dimensional random characteristics in time and space, which effectively prevents the adversary from tracing the source.

[0070] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0071] In one embodiment, Figure 4 As shown, a relay group random walk path planning device is provided, comprising: a dual focus position determination module 200, a moving tool motion vector random determination module 210 and a relay group random walk route acquisition module 220, wherein:

[0072] The dual-focus position determination module 200 is used to set two positions in a designated area according to the communication distance, and to set two virtual focal points at the two positions respectively.

[0073] The moving tool motion vector random determination module 210 is used to randomly select a focus from two focuses for each moving tool, and determine the direction and speed of the moving tool motion vector at the next moment based on the distance and angle between the selected focus and the current position of the moving tool.

[0074] The relay group random walk route obtaining module 220 is used for each mobile tool in the relay group to determine the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position at each moment, so as to realize the random walk of each relay device in the specified area.

[0075] For the specific limitations of the relay group random walk path planning device, please refer to the limitations of the relay group random walk path planning method above, which will not be repeated here. Each module in the above-mentioned relay group random walk path planning device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0076] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for random walk path planning of a relay group is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0077] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0078] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0079] Two positions are set in the designated area according to the communication distance, and two virtual focal points are respectively set at the two positions;

[0080] For each moving tool, a focus is randomly selected from the two focus points, and the direction and speed of the moving tool's motion vector at the next moment are determined according to the distance and angle between the selected focus point and the current position of the moving tool;

[0081] At each moment, each mobile tool in the relay group determines the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position, thereby realizing the random wandering of each relay device in the designated area.

[0082] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0083] Two positions are set in the designated area according to the communication distance, and two virtual focal points are respectively set at the two positions;

[0084] For each moving tool, a focus is randomly selected from the two focus points, and the direction and speed of the moving tool's motion vector at the next moment are determined according to the distance and angle between the selected focus point and the current position of the moving tool;

[0085] At each moment, each mobile tool in the relay group determines the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position, thereby realizing the random wandering of each relay device in the designated area.

[0086] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0087] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A relay group random walk path planning method, characterized in that: The method is implemented on a plurality of mobile tools carrying relay devices in a relay group, and includes: Two positions are set in the designated area according to the communication distance, and two virtual focal points are respectively set at the two positions; For each moving tool, a focus is randomly selected from the two focus points, and the direction and speed of the moving tool's motion vector at the next moment are determined according to the distance and angle between the selected focus point and the current position of the moving tool; At each moment, each mobile tool in the relay group determines the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position, thereby realizing the random wandering of each relay device in the designated area.

2. The method for random walk path planning of a relay group according to claim 1, characterized in that: The fixed positions of the two virtual focal points are determined according to the communication distance.

3. The method for random walk path planning of a relay group according to claim 1, characterized in that: The mobile tool is a ground robot or an unmanned surface ship; Or use ground robots and surface unmanned vessels as both mobility tools.

4. The method for random walk path planning of a relay group according to any one of claims 1 to 3, characterized in that: When determining the direction and speed of the motion vector of the moving tool at the next moment based on the distance and angle between the selected focus and the current position of the moving tool: According to the distance and angle between the selected focus and the current position of the mobile tool, the probability of the mobile tool moving in a certain direction at the next moment is obtained, and the moving direction of the mobile tool at the next moment is determined according to the probability, wherein the probability obeys the negative exponential distribution law; The movement speed of the moving tool at the next moment obeys the distribution law of 0-1.

5. The method for random walk path planning of a relay group according to claim 4, characterized in that: The probability is expressed as: p(α,r)=λe -λα in, In the above formula, α represents the angle between the selection focus and the current position of the moving tool, and r represents the distance between the selection focus and the current position of the moving tool.

6. The method for random walk path planning of a relay group according to claim 5, characterized in that: The movement direction and speed of the mobile tool at the next moment are described as random generation functions, respectively, and are expressed as: ω=rand_generate(p(α,r)) v = rand_generate(vh,vl) In the above formula, ω represents the direction of movement, v represents the speed, and vh and vl represent the high speed and low speed of the moving tool respectively.

7. The method for random walk path planning of a relay group according to claim 6, characterized in that: The positions of the two focal points are dynamically adjusted according to the strength of the communication signal at each moment.

8. A relay group random walk path planning device, characterized in that: The device comprises: A dual-focus position determination module is used to set two positions in a specified area according to the communication distance, and to set two virtual focal points at the two positions respectively; A moving tool motion vector random determination module is used to randomly select a focus from two focuses for each moving tool, and determine the direction and speed of the moving tool motion vector at the next moment according to the distance and angle between the selected focus and the current position of the moving tool; The relay group random walk route obtaining module is used for each mobile tool in the relay group to determine the motion vector of the next moment by the distance and angle between the randomly selected focus and the current position at each moment, so as to realize the random walk of each relay device in the specified area.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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