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论文:2018,Vol:36,Issue(3):565-570 |
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引用本文： |
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谭雁英, 薛亮, 张艳宁, 祝小平. 通信拓扑变化条件下多无人机同时到达控制策略[J]. 西北工业大学学报 |
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Tan Yanying, Xue Liang, Zhang Yanning, Zhu Xiaoping. Control Strategies for Multi-UAV Simultaneous Arrival under Communication Topology Changing[J]. Northwestern polytechnical university |
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| 通信拓扑变化条件下多无人机同时到达控制策略 |
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| 谭雁英1, 薛亮2, 张艳宁3, 祝小平4 |
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1. 西北工业大学 航天学院精确制导与控制研究所, 陕西 西安 710072;
2. 中国人民解放军31670部队, 宁夏 银川 750027;
3. 西北工业大学 计算机学院, 陕西 西安 710129;
4. 西北工业大学 无人机所, 陕西 西安 710065 |
| 摘要: |
| 针对战场环境中无人机多机成员通信链路局部时断时续情形，并基于一致性算法有向生成树最弱通信连通条件，设计了无人机多机通信拓扑包含有向生成树/子树的判别策略、以及重新包含有向生成树的通信链路最小变更方案的获取策略；研究选取预计到达时间（ETA）为协调变量，基于一致性算法控制无人机成员或其成员子集实现同时到达；提出设置虚拟子目标点的一致性控制策略，实现多无人机空中聚集飞行和同时到达，以提高作战生存力，并且避免多无人机飞行间距超出相互通信作用范围；通过仿真与分析，验证了上述策略的有效性。 |
| 关键词:
多无人机
同时到达
一致性算法
网络通信拓扑
策略
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| Control Strategies for Multi-UAV Simultaneous Arrival under Communication Topology Changing |
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| Tan Yanying1, Xue Liang2, Zhang Yanning3, Zhu Xiaoping4 |
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1. Institute of Precision Guidance and Control, Northwestern Polytechnic University, Xi'an 710072, China;
2. The Chinese People's Liberation Army 31670 Forces, Yinchuan 750027, China;
3. School of Computer, Northwestern Polytechnic University, Xi'an 710129, China;
4. UAV Research Institute, Northwestern Polytechnic University, Xi'an 710065, China |
| Abstract: |
| Aimed at changing in communication topology due to partial link/node failure in the battlefield, and for satisfying the weakest connectivity criteria of consensus algorithm, the strategy of judging in real time whether the communication topology among UAVs has a directed spanning tree or sub-tree and the strategy of acquiring the expected minimum partial link change suggestion for the topology containing a directed spanning tree again are designed. Based on the above strategies and selecting ETA (Estimated Time of Arrival) as coordinated variable, the consensus algorithm ensures that after some time all the members or part members of the UAVs arrive simultaneously. The strategy is put forword which the UAVS are controlled arriving simultaneously on the planed virtual sub-goal waypoints one by one along the flight path. Through the strategy, the UAVs fly together soon and arrive simultaneously at last. It is helpful to improve the survival rate of UAVs and preserve the communication connectivity of UAVs which is usually distance-dependent. The simulation results show that the above strategies are effective. |
| Key words:
multi-UAVs
simultaneous arrival
consensus algorithm
communication topology
Strategy
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| 收稿日期: 2017-04-02
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 谭雁英(1967-),女,西北工业大学教授、博士,主要从事无人机自主飞行智能管理、任务规划及组合导航控制研究。
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