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CN114564037B - A multi-UAV self-organizing collaborative system and method - Google Patents

A multi-UAV self-organizing collaborative system and method Download PDF

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CN114564037B
CN114564037B CN202210266975.3A CN202210266975A CN114564037B CN 114564037 B CN114564037 B CN 114564037B CN 202210266975 A CN202210266975 A CN 202210266975A CN 114564037 B CN114564037 B CN 114564037B
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unmanned aerial
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CN114564037A (en
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沈凯
朱毅晓
丁应和
钟鼎
李岳纶
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Beijing Institute of Technology BIT
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Computer Security & Cryptography (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a multi-unmanned aerial vehicle self-organizing cooperative system and a method, which realize communication networking and high-precision positioning of the multi-unmanned aerial vehicle through a differential satellite positioning system and a wifi wireless communication technology, and design a self-organizing cooperative control method with multiple functions of autonomous interaction object selection, individual interval maintenance, obstacle avoidance, target tracking, viewpoint synthesis and the like, so that autonomous communication and distributed autonomous control of the multi-unmanned aerial vehicle are realized, and a large-scale unmanned aerial vehicle self-organizing cooperative system scheme can be provided.

Description

Multi-unmanned aerial vehicle self-organizing cooperative system and method
Technical Field
The invention belongs to the technical field of robot navigation and control, and particularly relates to a multi-unmanned aerial vehicle self-organizing cooperative system and method.
Background
Because the intelligent level of the unmanned aerial vehicle is limited at present, a single unmanned aerial vehicle is difficult to adapt to complex and changeable task environments, and compared with a single unmanned aerial vehicle, a plurality of unmanned aerial vehicles have a plurality of advantages in task execution after being cooperated. For example, the unmanned aerial vehicles have better system compatibility and fault tolerance, better task load expansibility and distributed sensing and control. The advantages can integrate the power of a single unmanned aerial vehicle, and improve the overall task execution capacity of a plurality of unmanned aerial vehicles, so that tasks which are difficult to complete by a single machine are completed. Meanwhile, high task load cost can be dispersed to different unmanned aerial vehicles through reasonable arrangement and cooperation, so that overall hardware cost is reduced, multiple unmanned aerial vehicles are reasonably used, overall operation efficiency of a system can be improved, cost of the system can be reduced, and higher economic benefit is brought. However, at present, an autonomous cooperation method of multiple unmanned aerial vehicles still has a certain limitation, how to realize more autonomous and more intelligent autonomous cooperation of the multiple unmanned aerial vehicles is a technical difficulty to be solved currently urgently, the difficulty is overcome, and the cooperative task of the multiple unmanned aerial vehicles is widely applied, so that contribution is made to social development practically.
Disclosure of Invention
In view of the above, the invention provides a multi-unmanned aerial vehicle self-organizing cooperative system and a method, which can realize autonomous communication and distributed autonomous control of the multi-unmanned aerial vehicle and provide a system scheme of large-scale unmanned aerial vehicle self-organizing cooperative.
The technical scheme for realizing the invention is as follows:
a multi-unmanned aerial vehicle self-organizing cooperative system comprises 3 or more unmanned aerial vehicles, a communication base station and a positioning base station;
Each unmanned aerial vehicle comprises an unmanned aerial vehicle autopilot, a remote controller, differential satellite navigation equipment, a communication module and an onboard computer;
a field local area network is established through the communication base station, and wireless communication among multiple machines can be realized by the unmanned aerial vehicle in the signal coverage range of the communication base station;
The positioning base station broadcasts satellite differential correction data to a plurality of unmanned aerial vehicles, and the differential satellite navigation equipment receives the broadcast data of the positioning base station so as to calculate high-precision satellite positioning information;
The differential satellite navigation equipment is used for receiving satellite differential correction data broadcast by the positioning base station so as to acquire high-precision positioning and orientation information of the unmanned aerial vehicle;
The unmanned aerial vehicle autopilot is used for receiving the high-precision positioning and orientation information of the differential satellite navigation equipment, acquiring inertial navigation sensor data, completing navigation information calculation, flight control of the unmanned aerial vehicle, receiving a control instruction of an onboard computer and completing corresponding flight actions by an operator through a control instruction sent by a remote controller.
Further, the on-board computer is configured to:
1) Reading a control instruction of an operator from an automatic pilot of the unmanned aerial vehicle and high-precision positioning information of the unmanned aerial vehicle;
2) Receiving information sent by other unmanned aerial vehicles in a communication range from a communication module;
3) Transmitting the high-precision positioning data and the speed data of the communication module to the communication module, and broadcasting the data by the communication module;
4) And running the multi-unmanned aerial vehicle self-organizing cooperative method, calculating a control instruction of the unmanned aerial vehicle, and sending the instruction to an unmanned aerial vehicle autopilot.
Further, the unmanned aerial vehicle is sequentially numbered 1,2 and 3, the unmanned aerial vehicle with the number i comprises an unmanned aerial vehicle autopilot i, a remote controller i, differential satellite navigation equipment i, a communication module i and an onboard computer i, the unmanned aerial vehicle with the number j comprises an unmanned aerial vehicle autopilot j, a remote controller j, differential satellite navigation equipment j, a communication module j and an onboard computer j, the unmanned aerial vehicle autopilot is respectively connected with the remote controller, the onboard computer and the differential satellite navigation equipment, and the onboard computer is respectively connected with the unmanned aerial vehicle autopilot and the communication module.
A multi-unmanned aerial vehicle self-organizing cooperative method is used for distributed autonomous control of the multi-unmanned aerial vehicle, and state convergence of the multi-unmanned aerial vehicle is finally achieved through the same self-organizing cooperative method that each unmanned aerial vehicle operates simultaneously.
Further, the method specifically comprises the following steps:
Recording unmanned aerial vehicle data broadcast by all other unmanned aerial vehicles received in the current unmanned aerial vehicle i communication range, wherein the unmanned aerial vehicle data comprise unmanned aerial vehicle numbers j, satellite positioning data p j and speed data v j, judging that the front N unmanned aerial vehicle with the state distance closest to the unmanned aerial vehicle i is a neighbor according to the collected data, wherein the state distance is the relative distance or the relative speed size between every two unmanned aerial vehicles (or the linear combination of the relative distance and the relative speed size between every two unmanned aerial vehicles or the relative speed size when the relative distance between every two unmanned aerial vehicles is smaller than a certain fixed value), and the unmanned aerial vehicle data of the neighbor, which is formed by a set of N i, is reserved and the collected other unmanned aerial vehicle data is discarded;
according to unmanned aerial vehicle data of the neighbors, calculating a control command component v i,rep for unmanned aerial vehicle interval maintenance, wherein the calculation method comprises the following steps:
Where v ij,rep is a control command component for gap maintenance between drone i and drone j, K is a command gain, and f adp (x) is an adaptive gain function, including but not limited to a function shaped as f adp(x)＝x,fadp(x)＝1/x,fadp (x) =x+a/x;
Thirdly, the onboard computer acquires control instruction components v i,d generated by control modules in other unmanned aerial vehicle onboard computers, wherein the control modules comprise but are not limited to control instruction components generated by related control modules for realizing obstacle avoidance, target tracking and the like;
Fourthly, processing the control command component v i,rep for keeping the distance between the unmanned aerial vehicles, the control command component v i,d generated by other control modules and the speed data of other unmanned aerial vehicles in the neighbors to obtain a final unmanned aerial vehicle control command v i,ali according to the following mode:
Where α is a self-organizing factor, v rand is a velocity vector generated by a random number generator, and σ is a random velocity amplitude.
The beneficial effects are that:
(1) The invention provides a multi-unmanned aerial vehicle self-organizing cooperation method, which can realize the self-organizing cooperation of a plurality of unmanned aerial vehicles, and can realize the self-organizing cooperation of unmanned aerial vehicles without or with little manual intervention;
(2) The invention provides a multi-unmanned aerial vehicle self-organizing cooperative system, which provides a feasible and low-cost cooperative system solution;
(3) The multi-unmanned aerial vehicle self-organizing collaborative method provided by the invention has relatively low calculation cost, does not need a large-scale airborne computer, and can save the power consumption of unmanned aerial vehicles, thereby increasing the endurance and the task load of the unmanned aerial vehicles.
Drawings
Fig. 1 is a block diagram of a self-organizing collaborative system of a multi-unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a flowchart of a multi-unmanned aerial vehicle self-organizing cooperation method according to an embodiment of the present invention.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
Implementation example one:
The embodiment of the invention provides a multi-unmanned aerial vehicle self-organizing cooperative system and a method, which realize communication networking and high-precision positioning of the multi-unmanned aerial vehicle through a differential satellite positioning system and a wifi wireless communication technology, and design a self-organizing cooperative control method with multiple functions of autonomous interaction object selection, individual interval maintenance, obstacle avoidance, target tracking, viewpoint synthesis and the like, so that autonomous communication and distributed autonomous control of the multi-unmanned aerial vehicle are realized, and a system scheme of large-scale unmanned aerial vehicle self-organizing cooperative can be provided.
As shown in fig. 1, the multi-unmanned aerial vehicle self-organizing cooperative system comprises 3 or more unmanned aerial vehicles, a communication base station and a positioning base station;
the unmanned aerial vehicles are numbered 1,2 and 3 in sequence, each unmanned aerial vehicle comprises the same equipment, for example, the unmanned aerial vehicle with the number i comprises an unmanned aerial vehicle autopilot i, a remote controller i, a differential satellite navigation equipment i, a communication module i and an onboard computer i, the unmanned aerial vehicle with the number j comprises an unmanned aerial vehicle autopilot j, a remote controller j, a differential satellite navigation equipment j, a communication module j and an onboard computer j, the unmanned aerial vehicle autopilot is respectively connected with the remote controller, the onboard computer and the differential satellite navigation equipment, and the onboard computer is respectively connected with the unmanned aerial vehicle autopilot and the communication module.
A field local area network is established through the communication base station, and wireless communication among multiple machines can be realized by the unmanned aerial vehicle in the signal coverage range of the communication base station;
The positioning base station broadcasts satellite differential correction data to a plurality of unmanned aerial vehicles, and the differential satellite navigation equipment receives the broadcast data of the positioning base station so as to calculate high-precision satellite positioning information;
The differential satellite navigation equipment is used for receiving satellite differential correction data broadcast by the positioning base station so as to acquire high-precision positioning and orientation information of the unmanned aerial vehicle;
The unmanned aerial vehicle autopilot is used for receiving the high-precision positioning and orientation information of the differential satellite navigation equipment, acquiring inertial navigation sensor data, completing navigation information calculation, flight control of the unmanned aerial vehicle, receiving a control instruction of an onboard computer and completing corresponding flight actions by an operator through a control instruction sent by a remote controller.
The on-board computer is used for:
1) Reading a control instruction of an operator from an automatic pilot of the unmanned aerial vehicle and high-precision positioning information of the unmanned aerial vehicle;
2) Receiving information sent by other unmanned aerial vehicles in a communication range from a communication module;
3) Transmitting the high-precision positioning data and the speed data of the communication module to the communication module, and broadcasting the data by the communication module;
4) And running the multi-unmanned aerial vehicle self-organizing cooperative method, calculating a control instruction of the unmanned aerial vehicle, and sending the instruction to an unmanned aerial vehicle autopilot.
As shown in fig. 2, the self-organizing cooperation method of multiple unmanned aerial vehicles is used for distributed autonomous control of the multiple unmanned aerial vehicles, and state convergence of the multiple unmanned aerial vehicles is finally achieved by simultaneously running the same self-organizing cooperation method of each unmanned aerial vehicle. The method specifically comprises the following steps:
Recording unmanned aerial vehicle data broadcast by all other unmanned aerial vehicles received in the current unmanned aerial vehicle i communication range, wherein the unmanned aerial vehicle data comprise unmanned aerial vehicle numbers j, satellite positioning data p j and speed data v j, judging that the front N unmanned aerial vehicle with the state distance closest to the unmanned aerial vehicle i is a neighbor according to the collected data, wherein the state distance is the relative distance or the relative speed between every two unmanned aerial vehicles, (or the linear combination of the relative distance and the relative speed between every two unmanned aerial vehicles, or the relative speed when the relative distance between every two unmanned aerial vehicles is smaller than a certain fixed value), and the unmanned aerial vehicle data of the neighbor, which is the set of N i, is reserved, and the collected other unmanned aerial vehicle data is discarded;
according to unmanned aerial vehicle data of the neighbors, calculating a control command component v i,rep for unmanned aerial vehicle interval maintenance, wherein the calculation method comprises the following steps:
Where v ij,rep is a control command component for gap maintenance between drone i and drone j, K is a command gain, and f adp (x) is an adaptive gain function, including but not limited to a function shaped as f adp(x)＝x,fadp(x)＝1/x,fadp (x) =x+a/x;
Thirdly, the onboard computer acquires control instruction components v i,d generated by control modules in other unmanned aerial vehicle onboard computers, wherein the control modules comprise but are not limited to control instruction components generated by related control modules for realizing obstacle avoidance, target tracking and the like;
Fourthly, processing the control command component v i,rep for keeping the distance between the unmanned aerial vehicles, the control command component v i,d generated by other control modules and the speed data of other unmanned aerial vehicles in the neighbors to obtain a final unmanned aerial vehicle control command v i,ali according to the following mode:
Where α is a self-organizing factor, v rand is a velocity vector generated by a random number generator, and σ is a random velocity amplitude.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1.一种多无人机自组织协同方法，所述方法应用于多无人机自组织协同系统，所述系统包括3个及以上的多个无人机、通信基站、定位基站；1. A multi-UAV self-organizing coordination method, the method is applied to a multi-UAV self-organizing coordination system, the system includes 3 or more UAVs, a communication base station, and a positioning base station; 每个无人机均包括无人机自动驾驶仪、遥控器、差分卫星导航设备、通信模块和机载计算机；Each drone includes a drone autopilot, a remote controller, a differential satellite navigation device, a communication module, and an onboard computer; 通过所述通信基站建立一个现场局域网，所述无人机在通信基站的信号覆盖范围内能够实现多机间的无线通信；A local area network is established on site through the communication base station, and the UAV can realize wireless communication among multiple UAVs within the signal coverage of the communication base station; 所述定位基站向多个无人机广播卫星差分修正数据，差分卫星导航设备将接收定位基站的广播数据进而解算出高精度卫星定位信息；The positioning base station broadcasts satellite differential correction data to multiple drones, and the differential satellite navigation device receives the broadcast data of the positioning base station and then calculates high-precision satellite positioning information; 所述差分卫星导航设备用于接收定位基站广播的卫星差分修正数据，从而获取无人机的高精度定位定向信息；The differential satellite navigation device is used to receive satellite differential correction data broadcast by the positioning base station, so as to obtain high-precision positioning and orientation information of the UAV; 所述无人机自动驾驶仪用于接收所述差分卫星导航设备的高精度定位定向信息、惯性导航传感器数据的采集、完成无人机的导航信息解算、飞行控制、接收机载计算机的控制指令以及操纵者通过遥控器发送的控制指令完成相应的飞行动作；The UAV autopilot is used to receive the high-precision positioning and orientation information of the differential satellite navigation device, collect the data of the inertial navigation sensor, complete the navigation information solution and flight control of the UAV, receive the control instructions of the onboard computer and the control instructions sent by the operator through the remote control to complete the corresponding flight action; 所述机载计算机用于：The onboard computer is used to: 1)从无人机自动驾驶仪读取操纵员的控制指令、无人机自身的高精度定位信息；1) Read the operator's control instructions and the drone's own high-precision positioning information from the drone's autopilot; 2)从通信模块接收通信范围内其他无人机发送的信息；2) Receive information sent by other drones within the communication range from the communication module; 3)向通信模块发送自身的高精度定位数据和速度数据，并由通信模块广播这些数据；3) Send its own high-precision positioning data and speed data to the communication module, and the communication module broadcasts these data; 4)运行多无人机自组织协同方法，并计算出无人机的控制指令，并将指令发送给无人机自动驾驶仪；4) Run the multi-UAV self-organizing collaborative method, calculate the control instructions of the UAV, and send the instructions to the UAV autopilot; 所述无人机依次编号为1,2,3，……，编号为i的无人机包括：无人机自动驾驶仪i，遥控器i，差分卫星导航设备i，通信模块i，机载计算机i；编号为j的无人机包括：无人机自动驾驶仪j，遥控器j，差分卫星导航设备j，通信模块j，机载计算机j；所述无人机自动驾驶仪分别与遥控器、机载计算机、差分卫星导航设备连接，所述机载计算机分别与无人机自动驾驶仪、通信模块连接；The drones are numbered 1, 2, 3, ... in sequence. The drone numbered i includes: drone autopilot i, remote controller i, differential satellite navigation device i, communication module i, and airborne computer i; the drone numbered j includes: drone autopilot j, remote controller j, differential satellite navigation device j, communication module j, and airborne computer j; the drone autopilot is connected to the remote controller, the airborne computer, and the differential satellite navigation device respectively, and the airborne computer is connected to the drone autopilot and the communication module respectively; 其特征在于，用于多无人机的分布式自主控制，通过每架无人机同时运行相同的自组织协同方法最终实现多无人机的状态趋同；具体包括以下步骤：The invention is characterized in that it is used for distributed autonomous control of multiple UAVs, and each UAV runs the same self-organizing collaborative method at the same time to finally achieve the state convergence of multiple UAVs; specifically, it includes the following steps: 步骤一：记录当前无人机i通信范围内收到的所有其他无人机广播的无人机数据，所述的无人机数据包括：无人机编号j，卫星定位数据pj，速度数据vj，依据收集到的数据，判定其中状态距离与无人机i最为接近的前N的无人机为邻居，所述状态距离为两两无人机之间的相对距离或相对速度大小或为两两无人机之间的相对距离与相对速度大小的线性组合，或为两两无人机之间的相对距离小于某一定值时的相对速度大小，所述邻居构成的集合为Ni所述邻居的无人机数据将被保留，而且收集到的其他无人机数据将被丢弃；Step 1: Record the drone data broadcast by all other drones received within the communication range of the current drone i. The drone data includes: drone number j, satellite positioning data p j , speed data v j . According to the collected data, determine the first N drones whose state distance is closest to drone i as neighbors. The state distance is the relative distance or relative speed between two drones, or the linear combination of the relative distance and relative speed between two drones, or the relative speed when the relative distance between two drones is less than a certain value. The set of neighbors is N i. The drone data of the neighbors will be retained, and the collected data of other drones will be discarded. 步骤二：根据邻居的无人机数据，计算用于无人机间距保持的控制指令分量vi,rep，计算方法如下：Step 2: Calculate the control command component vi ,rep for maintaining the distance between drones based on the neighbor’s drone data. The calculation method is as follows: 其中，vij,rep为用于无人机i与无人机j之间间距保持的控制指令分量，K为指令增益，fadp(x)为自适应增益函数，包括：fadp(x)＝x,fadp(x)＝1/x,fadp(x)＝x+a/x的函数；Wherein, vij ,rep is a control command component for maintaining the distance between UAV i and UAV j, K is a command gain, fadp (x) is an adaptive gain function, including: fadp (x) = x, fadp (x) = 1/x, fadp (x) = x + a/x; 步骤三：机载计算机获取其他无人机机载计算机中控制模块产生的控制指令分量vi,d，这些控制模块包括用于实现障碍物规避以及目标跟踪的相关控制模块产生的控制指令分量；Step 3: The onboard computer obtains the control instruction components v i,d generated by the control modules in the onboard computers of other UAVs, and these control modules include the control instruction components generated by the relevant control modules for achieving obstacle avoidance and target tracking; 步骤四：将用于无人机间距保持的控制指令分量vi,rep与其他控制模块产生的控制指令分量vi,d，以及邻居中其他无人机的速度数据按照如下方式处理得到最终的无人机控制指令vi,ali：Step 4: The control command component vi ,rep for maintaining the distance between UAVs is processed with the control command component vi ,d generated by other control modules and the speed data of other UAVs in the neighborhood as follows to obtain the final UAV control command vi ,ali : 其中，α为自组织因子，vrand为随机数生成器生成的速度矢量，σ为随机速度幅值。Among them, α is the self-organizing factor, v rand is the velocity vector generated by the random number generator, and σ is the random velocity amplitude.
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