通信拓扑变化条件下多无人机同时到达控制策略

Control Strategies for Multi-UAV Simultaneous Arrival under Communication Topology Changing

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。

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.