UAV Formation Topology Reoptimization via Minimum Cost Arborescence
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Solution Overview
Problem
Existing unmanned aerial vehicle (UAV) communication topologies are not always optimal after a communication failure, leading to suboptimal communication costs and potential formation shape disruptions, necessitating reoptimization to maintain efficient communication and formation shape.
Innovation Solution
A method and system for reoptimizing UAV formation communication topology based on minimum cost arborescence, which calculates and compares communication costs, and optimizes the topology by exchanging UAV positions to achieve the minimum communication cost, ensuring the formation shape is maintained with reduced communication costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If fast communication topology reconstruction is performed after communication failure, then communication safety is improved and formation shape is restored, but communication cost is not optimal
Solution Approach 1:
The patent pre-calculates the minimum cost arborescence for all possible formation communication diagrams before communication failure occurs. When communication failure happens, the system directly uses the pre-calculated optimal topology as the optimization target, avoiding real-time optimization calculations and reducing communication cost while maintaining fast reconstruction.
Solution Approach 2:
The patent implements a feedback mechanism where the reconstructed communication topology is compared with the pre-calculated minimum cost arborescence. If the reconstructed topology does not match the optimal target, the system performs iterative optimization by exchanging UAV positions until the topology converges to the minimum cost configuration, ensuring optimal communication cost after reconstruction.
2Loss of time
If communication topology is reconstructed quickly after failure, then response time is reduced, but communication cost becomes suboptimal
Solution Approach 1:
The system pre-calculates and stores the minimum cost arborescence for all possible formation communication diagrams before actual operation. This preliminary preparation enables the system to quickly identify the optimal target topology after communication failure without performing time-consuming real-time optimization calculations, thus resolving the contradiction between fast reconstruction and optimal cost.
3Loss of energy
If UAV positions are exchanged to optimize communication topology, then communication cost is reduced, but formation shape may be disrupted
Solution Approach 1:
The patent employs dynamic iterative optimization where UAV positions are exchanged multiple times in succession. Each exchange is evaluated based on whether it reduces communication cost while maintaining the formation shape. The process continues until convergence to the optimal topology, allowing the formation to adaptively adjust positions while preserving its overall shape and stability.
Solution Approach 2:
The system continuously monitors both communication cost and formation shape during the position exchange process. The optimization iterations proceed only when communication cost reduction is achieved without compromising formation integrity. This feedback control ensures that the final optimized topology maintains both low communication cost and stable formation shape.
Data Source
AI summary
A method and a system for reoptimizing unmanned aerial vehicle formation communication topology based on minimum cost arborescence are used for optimizing reconstructed UAV formation communication topology after a communication failure occurs on the UAVs in the formation. The method includes calculating a first communication cost of the reconstructed UAV formation communication topology; comparing the first communication cost with a target communication cost for the minimum cost arborescence of the formation communication diagram under a predetermined state; when the first communication cost is greater than the target communication cost for the minimum cost arborescence of the formation communication diagram under the predetermined state, optimizing the reconstructed UAV formation communication topology through a predetermined strategy.