CN108983814A - The more intelligence body bee colony control methods of single virtual master control based on wireless ultraviolet communication - Google Patents
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Abstract
The invention discloses the more intelligence body bee colony control methods of single virtual master control based on wireless ultraviolet communication, firstly, multi-agent network is set as G (t)；Any one multiple agent XiPosition be set as center of circle O；The optimal distance of communication equipment is radius R, and the multiple agent in R is adjacent node Yi, the safe distance of collision will be prevented to be set as r between multiple agent；Work as XiWith each YiThe distance between it is all equal when, it be equilibrium distance is d (d≤R) that it is separated by a distance, which to define its, | | qij| |=| | qj‑qi| | indicate XiTo YiDistance, then | | qij||min=r > 0；Building repulsion potential field is ψ laterij r(||qij| |) and gravitation potential field be ψij a(||qij||)；X is determined againiWith YiPresent position determines communication optical wavelength, to reach optimal communication；Finally obtain the more intelligence body bee colony control methods of single virtual master control of optic communication.This method improves the network connectivty between multiple agent, the formation holding assembled and formed into columns provides support to form into columns, and quickly and effectively solves the collision problem between multiple agent by introducing wireless ultraviolet light multi-wavelength communication.
Description
Technical field
The invention belongs to information control technology fields, and in particular to a kind of single virtual master control based on wireless ultraviolet communication
More intelligence body bee colony control methods.
Background technique
Nearly more than 30 years have been developed in domestic unmanned plane, gradually expand to consumer field from initial military domain, nobody
Machine is very extensive in the application of every field.In special scenes application, it should guarantee that a large amount of unmanned planes work at the same time,
Also need to be autonomously formed complete fly to destination of forming into columns and keep rank.Existing communication method is using between unmanned plane and long
Machine and ground communication mode use radio simultaneously, safety difference and vulnerable to interference when this communication mode transmission signal, greatly
Affect the robustness that entire unmanned plane is formed into columns.Unmanned plane anticollision control algolithm mostly uses Artificial Potential Field Method etc..This anti-collision
Control method limitation is hit it is also obvious that path cannot be found by being spaced closely together between barrier, when target point nearby has barrier
It is unable to reach destination etc..The more intelligence body bee colony control methods of single virtual master control based on wireless ultraviolet communication are studied based on this.
Communication mode between unmanned plane utilizes wireless ultraviolet light different wave length, and the advantage of non line of sight improves unmanned plane network and connects
The problems such as general character, wireless ultraviolet communication can with the validity of the more intelligence body bee colony control methods of single virtual master control of effective guarantee,
To complete the assembly of unmanned plane formation, make to form into columns in unmanned plane speed track virtual leader speed with it and be consistent, and
The collision between formation member is avoided during forming into columns, and is completed formation and is kept.
Summary of the invention
The object of the present invention is to provide a kind of more intelligence body bee colony controlling parties of single virtual master control based on wireless ultraviolet communication
Method, solve existing multiple agent form into columns assemble, formation keep during occur by multiple agent speed and its virtual master control
Speed difference bring collision problem.
The technical scheme adopted by the invention is that the more intelligence body bee colony controls of single virtual master control based on wireless ultraviolet communication
Method, the specific steps are as follows:
Step 1, multi-agent network is set as G (t)；Any one multiple agent XiPosition be set as center of circle O；Communication is set
Standby the optimal distance is radius R, and the multiple agent in R is adjacent node Yi, collision will be prevented between multiple agent
Safe distance is set as r；Work as XiWith each YiThe distance between it is all equal when, define its it is separated by a distance be equilibrium distance be d (d≤
R)；||qij| |=| | qj-qi| | indicate XiTo YiDistance, then | | qij||min=r > 0, is expressed as XiTo YiDistance value be r
And the value is not zero, when | | qij| | when < r, XiAnd YiIt is unsatisfactory for safety condition, is collided；Work as YiWith XiThe distance between force
When nearly r, X is acted oniAnd YiBetween repulsion be infinity, be expressed as
D is set as any one section, when D=(| | qij||min, | | qij||max]=(r, R] when, meet construction repulsion gesture
Condition, i.e. potential function ψ are more than or equal to zero in D and smooth lead；
Step 2, after step 1, building repulsion potential field is ψij r(||qij| |) and gravitation potential field be ψij a(||qij||)；
Step 3, after step 2, X is determinediWith YiPresent position determines communication optical wavelength, to reach optimal communication；
Step 4, after step 3, the more intelligence body bee colony control methods of single virtual master control of optic communication are obtained.
The features of the present invention also characterized in that
In step 1, the optimal distance is radius R, as shown in formula (1):
In formula (1), θ1For the elevation angle of airborne transmitter；θ2For the elevation angle of airboarne receiver；φ1For beam divergence angle；φ2
For field of view of receiver angle；PrTo receive power；PtIt is to send power；PsIt is Scattering Phase Function；ArIt is the area in receiver aperture；KeFor
Atmosphere attenuation coefficien, by Rayleigh scattering coefficient KSR, Mie scattering coefficient KSMWith atmosphere absorbance KaComposition.
In step 2, building repulsion potential field is ψij r(||qij| |) and gravitation potential field be ψij a(||qij| |), specific steps are such as
Under:
Step 2.1, with repulsion potential field ψ between broad sense Morse function building multiple agent in r to dij r(||qij| |), such as formula
(2) shown in:
In formula (2), b ψij r(||qij| |) amplitude；C is constant；aijConnection relationship between multiple agent；
Step 2.2, in R to d construct multiple agent between gravitation potential field ψij a(||qij| |), as shown in formula (3):
In formula (3), g is acceleration of gravity；kijFor ψij a(||qij| |) amplitude.
Step 3 specifically:
Work as XiWith YiRelative distance in r to the region d when, using the ultraviolet light of 200nm~240nm non-solar-blind band；
Work as XiWith YiRelative distance in d to R when, using the ultraviolet light of 240nm~280nm non-solar-blind band.
Step 4 specifically:
Step 4.1, by the gravitation potential field ψ in the different zones obtained after step 2ij a(||qij| |) and repulsion potential field ψij r
(||qij| |) be iterated, obtain the total potential energy v (q of multiple agenti), as shown in formula (4) and formula (5)；
Step 4.2, potential energy V (q total to the multiple agent obtained after step 4.1i) derivation is carried out, it obtainsSuch as
Shown in formula (6) and formula (7):
Step 4.3, after step 4.2, whenWhen being zero, then show at equilibrium distance d, multiple agent is in
Stable state, that is, potential energy minimum；WhenWhen being not zero, then when showing that d is a certain constant, kij, b, c meet following relationship,
As shown in formula (8):
Step 4.4, after step 4.3, the more intelligence body bee colony control methods of single virtual master control of optic communication are obtained；Specifically:
Step 4.41, when G (t) meets alpha lattice, then-δ≤| | qij| |-d≤δ,Wherein, δ is non-
The constant of Chang Wei little；
Definition can any derivation σ-norm | | z | |σ, establish it is smooth can derivation artificial potential function ψα, as shown in formula (9):
In formula (9), ε > 0, ε are any small constant；
To σ-norm | | z | |σDerivation is carried out, as shown in formula (10) and formula (11):
Step 4.42, smooth potential function ψ and adjacency matrix a is establishedij(q), specifically:
Be located at meet in 0 to 1 smooth variation collision function be ρh(z), as shown in formula (12):
In formula (12), h is the arbitrary constant in interval of definition, and the value of h is [0,1]；
To ρh(z) derivation is carried out, ρ ' is obtainedh(z), ρ 'h(z) [1, ∞) in meet ρ 'h(z)=0 and | ρ 'h(z) | there is side
Boundary；
Pass through ρh(z) a is found outij(q), as shown in formula (13):
aij(q)=ρh(||qij||σ/Rα) ∈ [0,1] j ≠ i (13)；
In formula (13), work as Rα=| | R | |σ, aii(q)=0；Work as h=1, in [0,1] interior ρh(z)=1, other than [0,1], ρh
It (z) is 0；
Step 4.43, after step 4.41 and 4.42, the total potential energy V (q of multiple agent is obtainedi), as shown in formula (14):
Step 4.44, after step 4.43, the total potential energy V (q of multiple agent is obtainedi) set, i.e. multi-agent system is total
Potential energy is V (q), as shown in formula (15):
In formula (15), V (q) must meet following three conditions:
When | | qij||σWhen → 0, ψαFor maximum；When | | qij||σWhen for certain steady state value, ψαIt is minimum；When | | qij||σ≥||R||σ
When, ψαIt permanent can be defined as the constant more than or equal to zero；
Step 4.45, after step 4.44, it may be provided in the ψ α set up under the conditions of step 4.44, such as formula (16) and formula (17) institute
Show:
In formula (16),0 < a≤b,That is φ (0)=0；
Step 4.46, after step 4.45, the more intelligence body bee colony controls of single virtual master control based on wireless ultraviolet communication are obtained
Method processed, as shown in formula (18) and formula (19):
In formula (18) and formula (19),For the feedback of virtual master control speed and position, Length velocity relation between multiple agent, prAnd qrVirtually to lead
The speed and position vector of control.
The invention has the advantages that
This method improves the network connectivty between multiple agent, by introducing wireless ultraviolet light multi-wavelength communication to compile
The formation that team assembles and forms into columns keeps providing support, quickly and effectively solves the collision problem between multiple agent.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of the more intelligence body bee colony control methods of single virtual master control of wireless ultraviolet communication；
Fig. 2 is that the present invention is based on multiple agents in the more intelligence body bee colony control methods of single virtual master control of wireless ultraviolet communication
System realm divides figure；
Multiple agent when the number of iterations is 0 in Fig. 3 the present embodiment, which forms into columns to assemble, keeps tendency chart with formation；
Multiple agent when the number of iterations is 1000 in Fig. 4 the present embodiment, which forms into columns to assemble, keeps tendency chart with formation；
Multiple agent when the number of iterations is 2000 in Fig. 5 the present embodiment, which forms into columns to assemble, keeps tendency chart with formation；
The direction x velocity variations tendency chart in Fig. 6 the present embodiment；
The direction y velocity variations tendency chart in Fig. 7 the present embodiment.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention is based on the more intelligence body bee colony control methods of single virtual master control of wireless ultraviolet communication, as shown in Figure 1, specifically
Steps are as follows:
Step 1, multi-agent network is set as G (t)；Any one multiple agent XiPosition be set as center of circle O, such as Fig. 2
Shown, the optimal distance of communication equipment is radius R, as shown in formula (1):
In formula (1), θ1For the elevation angle of airborne transmitter；θ2For the elevation angle of airboarne receiver；φ1For beam divergence angle；φ2
For field of view of receiver angle；PrTo receive power；PtIt is to send power；PsIt is Scattering Phase Function；ArIt is the area in receiver aperture；KeFor
Atmosphere attenuation coefficien, by Rayleigh scattering coefficient KSR, Mie scattering coefficient KSMWith atmosphere absorbance KaForm (Ke=KSR+
KSM+Ka)；
Multiple agent in R is adjacent node Yi, the safe distance of collision will be prevented to be set as r between multiple agent；Work as Xi
With each YiThe distance between it is all equal when, it be equilibrium distance is d (d≤R) that it is separated by a distance, which to define its,；||qij| |=| | qj-qi
| | indicate XiTo YiDistance, then | | qij||min=r > 0, is expressed as XiTo YiDistance value be that r and the value are not zero, when | | qij
| | when < r, XiAnd YiIt is unsatisfactory for safety condition, is collided；Work as YiWith XiThe distance between when approaching r, act on XiAnd YiIt
Between repulsion be infinity, be expressed as
D is set as any one section, when D=(| | qij||min, | | qij||max]=(r, R] when, meet construction repulsion gesture
Condition, i.e. potential function ψ are more than or equal to zero in D and smooth lead；
Step 2, after step 1, due to XiWith YiBetween there are potential function ψ, potential function ψ is by repulsion potential field and gravitation potential field
It constitutes, building repulsion potential field is ψij r(||qij| |) and gravitation potential field be ψij a(||qij| |), ψij r(||qij| |) decide variation
Speed；Specific step is as follows:
Step 2.1, with repulsion potential field ψ between broad sense Morse function building multiple agent in r to dij r(||qij| |), such as formula
(2) shown in:
In formula (2), b ψij r(||qij| |) amplitude；C is constant, related with the movement velocity of multiple agent；aijFor
Connection relationship between multiple agent；
Step 2.2, in R to d construct multiple agent between gravitation potential field ψij a(||qij| |), as shown in formula (3):
In formula (3), g is acceleration of gravity；kijFor ψij a(||qij| |) amplitude；
Step 3, after step 2, X is determinediWith YiPresent position determines communication optical wavelength, to reach optimal communication；Tool
Body are as follows:
Work as XiWith YiRelative distance in r to the region d when, using the ultraviolet light of 200nm~240nm non-solar-blind band, this is
Since under the wave band, wireless ultra-violet light transmission is apart from wide, it is possible to provide more fully communication distance is to reach multiple agent volume
The communicating requirement that team assembles；
Work as XiWith YiRelative distance in d to R when, using the ultraviolet light of 240nm~280nm non-solar-blind band；This is because
Under the wave band, the state that intelligent body executes mostly is that formation is kept, and it is small that wireless ultraviolet light may be provided in time delay under the wave band, can expire
The requirement that sufficient multiple agent formation is kept；
Step 4, after step 3, the more intelligence body bee colony control methods of single virtual master control of optic communication are obtained, specifically:
Step 4.1, by the gravitation potential field ψ in the different zones obtained after step 2ij a(||qij| |) and repulsion potential field ψij r
(||qij| |) be iterated, obtain the total potential energy V (q of multiple agenti), as formula (4) and formula (5) institute not；
Step 4.2, potential energy V (q total to the multiple agent obtained after step 4.1i) derivation is carried out, it obtainsSuch as
Shown in formula (6) and formula (7):
Step 4.3, after step 4.2, whenWhen being zero, then show at equilibrium distance d, multiple agent is in
Stable state, that is, potential energy minimum；WhenWhen being not zero, then when showing that d is a certain constant, kij, b, c meet following relationship,
As shown in formula (8):
Step 4.4, after step 4.3, the more intelligence body bee colony control methods of single virtual master control of optic communication are obtained；Specifically:
Step 4.41, when G (t) meets alpha lattice, then-δ≤| | qij| |-d≤δ,Wherein, δ is non-
The constant of Chang Wei little；
The multiple agent comprising guidance feedback term that Olfati-Saber is proposed is swarmed control algolithm, and control input isDefinition can any derivation σ-norm | | z | |σ, establish it is smooth can derivation artificial potential function ψα, such as
Shown in formula (9):
In formula (9), ε > 0, ε are any small constant；
To σ-norm | | z | |σDerivation is carried out, as shown in formula (10) and formula (11):
Step 4.42, smooth potential function ψ and adjacency matrix a is establishedij(q), specifically:
Be located at meet in 0 to 1 smooth variation collision function be ρh(z), as shown in formula (12):
In formula (12), h is the arbitrary constant in interval of definition, and the value of h is [0,1]；
To ρh(z) derivation is carried out, ρ ' is obtainedh(z), ρ 'h(z) [1, ∞) in meet ρ 'h(z)=0 and | ρ 'h(z) | there is side
Boundary；
Pass through ρh(z) a is found outij(q), as shown in formula (13):
aij(q)=ρh(||qij||σ/Rα) ∈ [0,1] j ≠ i (13)；
In formula (13), work as Rα=| | R | |σ, aii(q)=0；Work as h=1, in [0,1] interior ρh(z)=1, other than [0,1], ρh
It (z) is 0；
Step 4.43, after step 4.41 and 4.42, the total potential energy V (q of multiple agent is obtainedi), as shown in formula (14):
Step 4.44, after step 4.43, the total potential energy V (q of multiple agent is obtainedi) set, i.e. multi-agent system is total
Potential energy is V (q), as shown in formula (15):
In formula (15), V (q) must meet following three conditions:
1) when | | qij||σWhen → 0, ψαFor maximum；
2) when | | qij||σWhen for certain steady state value, ψαIt is minimum；
3) when | | qij||σ≥||R||σWhen, ψαIt permanent can be defined as the constant more than or equal to zero；
Step 4.45, after step 4.44, it may be provided in the ψ set up under the conditions of step 4.44α, such as formula (16) and formula (17) institute
Show:
In formula (16),0 < a≤b,That is φ (0)=0；
Step 4.46, after step 4.45, the more intelligence body bee colony controls of single virtual master control based on wireless ultraviolet communication are obtained
Method processed, as shown in formula (18) and formula (19):
In formula (18) and formula (19),For the feedback of virtual master control speed and position, Its main function is to realize anticollision and form into columns to gather and keep；
Indicate the length velocity relation between multiple agent, pγAnd qγFor the speed and position vector of virtual master control.
Embodiment:
Case verification analysis is carried out to this method in MATLAB simulated environment.If multiple agent quantity is 50 in system,
Virtual master control is indicated with symbol "+", and 50 Y are indicated with symbol " o "i, algorithm iteration number Iterations=3000, kij
=0.05, b=1, c=1, guidance feedback term coefficient c1=0.01, c2=0.15, R=10, r=2, then d=5；Formation control mistake
Journey is as shown in Fig. 3, Fig. 4 and Fig. 5, and as time increases, the number of links in formation between multiple agent gradually increases, and increases whole
The robustness of a fleet system.Rate control process is as shown in FIG. 6 and 7；After the number of iterations Iterations > 2000, Yi
It is consistent with virtual master control speed.This method can realize the bee colony control of single virtual master control multiple agent, realize the collection of formation
Knot and the anticollision during formation holding.
Claims (5)
1. the more intelligence body bee colony control methods of single virtual master control based on wireless ultraviolet communication, which is characterized in that specific steps are such as
Under:
Step 1, multi-agent network is set as G (t)；Any one multiple agent XiPosition be set as center of circle O；Communication equipment
The optimal distance is radius R, and the multiple agent in R is adjacent node Yi, the safety of collision will be prevented between multiple agent
Distance is set as r；Work as XiWith each YiThe distance between it is all equal when, it be equilibrium distance is d (d≤R) that it is separated by a distance, which to define its,；|
|qij| |=| | qj-qi| | indicate XiTo YiDistance, then | | qij||min=r > 0, is expressed as XiTo YiDistance value be r and should
Value is not zero, when | | qij| | when < r, XiAnd YiIt is unsatisfactory for safety condition, is collided；Work as YiWith XiThe distance between approach r
When, act on XiAnd YiBetween repulsion be infinity, be expressed as
D is set as any one section, when D=(| | qij||min,||qij||max]=(r, R] when, meet the condition of construction repulsion gesture,
That is potential function ψ is more than or equal to zero in D and smooth leads；
Step 2, after step 1, building repulsion potential field is ψij r(||qij| |) and gravitation potential field be ψij a(||qij||)；
Step 3, after step 2, X is determinediWith YiPresent position determines communication optical wavelength, to reach optimal communication；
Step 4, after step 3, the more intelligence body bee colony control methods of single virtual master control of optic communication are obtained.
2. the more intelligence body bee colony control methods of single virtual master control according to claim 1 based on wireless ultraviolet communication,
It is characterized in that, in the step 1, the optimal distance is radius R, as shown in formula (1):
In formula (1), θ1For the elevation angle of airborne transmitter；θ2For the elevation angle of airboarne receiver；φ1For beam divergence angle；φ2To receive
Field angle；PrTo receive power；PtIt is to send power；PsIt is Scattering Phase Function；ArIt is the area in receiver aperture；KeFor big laboured breathing
Subtract coefficient, by Rayleigh scattering coefficient KSR, Mie scattering coefficient KSMWith atmosphere absorbance KaComposition.
3. the more intelligence body bee colony control methods of single virtual master control according to claim 1 based on wireless ultraviolet communication,
It is characterized in that, in the step 2, building repulsion potential field is ψij r(||qij| |) and gravitation potential field be ψij a(||qij| |), it is specific to walk
It is rapid as follows:
Step 2.1, with repulsion potential field ψ between broad sense Morse function building multiple agent in r to dij r(||qij| |), such as formula (2)
It is shown:
In formula (2), b ψij r(||qij| |) amplitude；C is constant；αijConnection relationship between multiple agent；
Step 2.2, in R to d construct multiple agent between gravitation potential field ψij a(||qij| |), as shown in formula (3):
In formula (3), g is acceleration of gravity；kijFor ψij a(||qij| |) amplitude.
4. the more intelligence body bee colony control methods of single virtual master control according to claim 1 based on wireless ultraviolet communication,
It is characterized in that, the step 3 specifically:
Work as XiWith YiRelative distance in r to the region d when, using the ultraviolet light of 200nm~240nm non-solar-blind band；
Work as XiWith YiRelative distance in d to R when, using the ultraviolet light of 240nm~280nm non-solar-blind band.
5. the more intelligence body bee colony control methods of single virtual master control according to claim 1 based on wireless ultraviolet communication,
It is characterized in that, the step 4 specifically:
Step 4.1, by the gravitation potential field ψ in the different zones obtained after step 2ij a(||qij| |) and repulsion potential field ψij r(||
qij| |) be iterated, obtain the total potential energy V (q of multiple agenti), as shown in formula (4) and formula (5)；
Step 4.2, potential energy V (q total to the multiple agent obtained after step 4.1i) derivation is carried out, it obtainsSuch as formula
(6) and shown in formula (7):
Step 4.3, after step 4.2, whenWhen being zero, then show at equilibrium distance d, multiple agent, which is in, to be stablized
State, that is, potential energy minimum；WhenWhen being not zero, then when showing that d is a certain constant, kij, b, c meet following relationship, such as formula
(8) shown in:
Step 4.4, after step 4.3, the more intelligence body bee colony control methods of single virtual master control of optic communication are obtained；Specifically:
Step 4.41, when G (t) meets alpha lattice, thenWherein, δ is very small
Constant；
Definition can any derivation σ-norm | | z | |σ, establish it is smooth can derivation artificial potential function ψα, as shown in formula (9):
In formula (9), ε > 0, ε are any small constant；
To σ-norm | | z | |σDerivation is carried out, as shown in formula (10) and formula (11):
Step 4.42, smooth potential function ψ and adjacency matrix a is establishedij(q), specifically:
Be located at meet in 0 to 1 smooth variation collision function be ρh(z), as shown in formula (12):
In formula (12), h is the arbitrary constant in interval of definition, and the value of h is [0,1]；
To ρh(z) derivation is carried out, ρ ' is obtainedh(z), ρ 'h(z) [1, ∞) in meet ρ 'h(z)=0 and | ρ 'h(z) | there is boundary；
Pass through ρh(z) a is found outij(q), as shown in formula (13):
aij(q)=ρh(||qij||σ/Rα)∈[0,1] j≠i (13)；
In formula (13), work as Rα=| | R | |σ, aii(q)=0；Work as h=1, in [0,1] interior ρh(z)=1, other than [0,1], ρh(z)
It is 0；
Step 4.43, after step 4.41 and 4.42, the total potential energy V (q of multiple agent is obtainedi), as shown in formula (14):
Step 4.44, after step 4.43, the total potential energy V (q of multiple agent is obtainedi) set, i.e. the total potential energy of multi-agent system is
V (q), as shown in formula (15):
In formula (15), V (q) must meet following three conditions:
When | | qij||σWhen → 0, ψαFor maximum；When | | qij||σWhen for certain steady state value, ψαIt is minimum；When | | qij||σ≥||R||σWhen, ψα
It permanent can be defined as the constant more than or equal to zero；
Step 4.45, after step 4.44, it may be provided in the ψ set up under the conditions of step 4.44α, as shown in formula (16) and formula (17):
In formula (16),0 < a≤b,That is φ (0)=0；
Step 4.46, after step 4.45, the more intelligence body bee colony controlling parties of single virtual master control based on wireless ultraviolet communication are obtained
Method, as shown in formula (18) and formula (19):
ui=fi g+fi d+fi r(18)；
In formula (18) and formula (19), fi rFor the feedback of virtual master control speed and position, fi γ(qi,pi,qr,pr)=- c1(qi-qr)-
c2(pi-pr)；fi dLength velocity relation between multiple agent, pγAnd qγSpeed and position for virtual master control
Vector.
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