CN115686069A - Synchronous coordination control method and system for unmanned aerial vehicle cluster - Google Patents
Synchronous coordination control method and system for unmanned aerial vehicle cluster Download PDFInfo
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Abstract
The invention relates to an artificial intelligence technology, and discloses a synchronous coordination control method and a system for an unmanned aerial vehicle cluster, wherein the method comprises the following steps: generating an initial formation of the unmanned aerial vehicle cluster; acquiring a flight environment, and judging whether an obstacle exists in the flight environment; when no obstacle exists, flying the unmanned aerial vehicle cluster to a target position according to the initial formation; when the obstacle exists, monitoring the minimum distance between each unmanned aerial vehicle and the obstacle, and when the minimum distance is smaller than a preset threshold value, adjusting the position of the unmanned aerial vehicle with the minimum distance from the obstacle in the unmanned aerial vehicle cluster to obtain an updated formation form; and when the obstacle exists in the process that the unmanned aerial vehicle cluster continues to fly according to the updated formation, returning to the step that the obstacle exists in the flying environment until the unmanned aerial vehicle cluster flies to the target position according to the updated formation. The invention can improve the efficiency of unmanned aerial vehicle cluster coordination control.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a synchronous coordination control method and system for an unmanned aerial vehicle cluster.
Background
Along with the continuous development of unmanned aerial vehicles, unmanned aerial vehicles have powerful application in all walks of life, and especially unmanned aerial vehicles have highlighted the important role when accomplishing the task, nevertheless in order to improve unmanned aerial vehicle efficiency of carrying out the task, need coordinate many unmanned aerial vehicles to carry out the task.
The existing synchronous coordination control method of the unmanned aerial vehicle cluster is mostly based on unified control of the flight of the unmanned aerial vehicle cluster through a ground command station. For example, the ground command station sends a signal to each drone in the cluster of drones to make an adjustment of the drone position. However, in practical applications, communication needs to be performed between each unmanned aerial vehicle in the unmanned aerial vehicle cluster, and only one-way communication of the unmanned aerial vehicles is considered, which may cause that communication among the unmanned aerial vehicles is too careless, so that efficiency when coordinated control of the unmanned aerial vehicle cluster is performed is low.
Disclosure of Invention
The invention provides a synchronous coordination control method and system for an unmanned aerial vehicle cluster, and mainly aims to solve the problem that the efficiency is low when the unmanned aerial vehicle cluster coordination control is carried out.
In order to achieve the above object, the present invention provides a method for synchronous coordination control of an unmanned aerial vehicle cluster, comprising:
s1, acquiring a preset flight task of an unmanned aerial vehicle cluster and an initial direction and an initial position coordinate of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, and generating an initial formation form of the unmanned aerial vehicle cluster according to the flight task, the initial direction and the initial position coordinate;
s2, obtaining the coordinated control instruction of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, obtaining the unmanned aerial vehicle cluster according to the flight environment in the flight process of the initial formation, and judging whether barriers exist in the flight environment, wherein the obtaining of the flight environment of the unmanned aerial vehicle cluster according to the flight process of the initial formation comprises the following steps:
s21, collecting an environment image of the unmanned aerial vehicle cluster in the flying process according to the initial formation by using laser radar scanning equipment carried by the unmanned aerial vehicle;
s22, reducing the environment image by using the following image reduction algorithm to obtain a reduced environment image:
wherein g (x, y) is the mapping pixel coordinate of the reduced environment image, f t Is the weight, x, of the t-th pixel point t Is the abscissa, y, of the t-th pixel t The vertical coordinate of the t-th pixel point is, and n is the number of the pixel points of the environment image;
s23, filtering the reduced environment image to obtain a filtered image, and taking the filtered image as the flying environment;
s3, when no obstacle exists in the flying environment, flying the unmanned aerial vehicle cluster to a target position according to the initial formation according to the coordination control instruction;
s4, when an obstacle exists in the flying environment, monitoring the minimum distance between each unmanned aerial vehicle and the obstacle, and when the minimum distance is smaller than a preset threshold value, adjusting the position of the unmanned aerial vehicle with the minimum distance from the obstacle in the unmanned aerial vehicle cluster according to the coordination control instruction to obtain an updated formation form;
and S5, when an obstacle exists in the process that the unmanned aerial vehicle cluster continues to fly according to the updated formation, returning to the step S4 until the unmanned aerial vehicle cluster flies to a target position according to the updated formation according to the coordination control instruction.
Optionally, the generating an initial formation of the drone cluster according to the flight mission, the initial direction, and the initial position coordinates includes:
selecting one unmanned aerial vehicle in the unmanned aerial vehicle cluster as a piloting unmanned aerial vehicle according to the flight task;
determining the relative direction and the relative distance between other unmanned aerial vehicles in the unmanned aerial vehicle cluster and the piloting unmanned aerial vehicle;
adjusting the initial direction and the initial position coordinate of each unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the relative direction and the relative distance to obtain an adjustment direction and an adjustment position coordinate of each unmanned aerial vehicle;
and determining an initial formation form of the unmanned aerial vehicle cluster according to the adjustment direction and the adjustment direction position coordinates.
Optionally, the determining whether an obstacle exists in the flying environment includes:
determining a threat level of unmanned aerial vehicle cluster flight in the flight environment;
when the threat degree is greater than or equal to a preset threshold value, an obstacle exists in the flight environment;
when the threat level is less than the threshold, no obstacle is present in the flight environment.
Optionally, the flying the unmanned aerial vehicle cluster to a target position according to the initial formation according to the coordination control instruction includes:
acquiring a final position coordinate of the target position;
determining the flying direction vector of each unmanned aerial vehicle in the initial formation form according to the initial target position and the final position coordinate by using the following direction vector formula:
wherein (x) 1 ，y 1 ，z 1 ) Is the direction vector, (x) t ，y t ，z t ) Is the initial target position, (x) k ，y k ，z k ) Is the final position coordinate;
and flying each unmanned aerial vehicle in the unmanned aerial vehicle cluster to a target position according to the direction vector according to the coordination control instruction.
Optionally, the monitoring a minimum distance of each drone from the obstacle includes:
acquiring the obstacle position of the obstacle;
monitoring the distance value between the flight position of each unmanned aerial vehicle and the obstacle position;
and selecting the distance with the minimum distance value as the minimum distance.
Optionally, the adjusting, according to the coordination control instruction, the position of the drone in the drone cluster that is the smallest distance from the obstacle to obtain an updated formation form includes:
determining a safe distance between each drone in the cluster of drones and the obstacle using a distance algorithm as follows:
wherein D is the safety distance, D 0 Is the radius of the obstacle, D u For the radius of the drone, τ is the distance, H, required to be possessed by the drone system information uncertainty v For adjusting the control parameter of the relative speed, H α In order to adjust the control parameters of the relative angle,
the moving speed of the unmanned aerial vehicle relative to the barrier is alpha, the included angle between the flying speed of the unmanned aerial vehicle and the connecting line between the unmanned aerial vehicle and the barrier is alpha, and cos is a cosine function;
adjusting the distance of the unmanned aerial vehicle with the minimum distance to the obstacle to a safe distance;
and determining the updated formation form of the unmanned aerial vehicle cluster according to the safety distance.
Optionally, the determining an updated formation of the unmanned aerial vehicle cluster according to the safety distance includes:
determining the formation force of adjacent drones in the drone cluster by using a force algorithm as follows:
wherein F is the formation force, r min Is the minimum value of the radius of the flight radius of the unmanned plane in the flight area, r max The maximum value of the flight radius of the unmanned aerial vehicle in the flight area, r is the flight radius of the unmanned aerial vehicle in the repulsion area, r 1 Radius for unmanned aerial vehicle flying in attraction zone, p ij Is the relative distance between the unmanned plane j and the unmanned plane i, m is the number of unmanned planes in the unmanned plane cluster, q i Virtual force for drone i, q j Is the virtual force of drone j;
and determining the updated formation form of the unmanned aerial vehicle cluster according to the safe distance and the formation acting force.
In order to solve the above problem, the present invention further provides a synchronization coordination control system for an unmanned aerial vehicle cluster, where the system includes:
an initial formation generating module for acquiring a preset flight mission of the unmanned aerial vehicle cluster and an initial direction and an initial position coordinate of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, generating an initial formation form of the unmanned aerial vehicle cluster according to the flight task, the initial direction and the initial position coordinates;
the flight environment acquisition module is used for acquiring a coordination control instruction of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, acquiring a flight environment of the unmanned aerial vehicle cluster in the flight process according to the initial formation, and judging whether a barrier exists in the flight environment;
the unmanned aerial vehicle cluster flying module is used for flying the unmanned aerial vehicle cluster to a target position according to the initial formation according to the coordination control instruction when no barrier exists in the flying environment;
the unmanned aerial vehicle position adjusting module is used for monitoring the minimum distance between each unmanned aerial vehicle and the obstacle when the obstacle exists in the flight environment, and adjusting the position of the unmanned aerial vehicle with the minimum distance from the obstacle in the unmanned aerial vehicle cluster according to the coordination control instruction when the minimum distance is smaller than a preset threshold value to obtain an updated formation form;
and the update formation adjusting module is used for returning to the step S4 when an obstacle exists in the process that the unmanned aerial vehicle cluster continues to fly according to the update formation, until the unmanned aerial vehicle cluster flies to a target position according to the update formation according to the coordination control instruction.
The method and the device realize the generation of the initial formation of the unmanned aerial vehicle cluster by acquiring the flight tasks of the unmanned aerial vehicle cluster and the initial direction and the initial position coordinates of each unmanned aerial vehicle in the unmanned aerial vehicle cluster; the method comprises the steps that the flying environment of the unmanned aerial vehicle in the flying process is obtained, whether barriers exist in the flying environment or not is judged, when the barriers do not exist in the flying environment, each unmanned aerial vehicle in the unmanned aerial vehicle cluster is controlled to fly to a target position according to an initial formation form according to a coordination control instruction, and therefore the flying task completion efficiency of the unmanned aerial vehicle cluster is improved; when there is the barrier in the environment of flying, adjust initial formation according to the barrier that meets, make the unmanned aerial vehicle cluster can fly to the target location accurately, and then be favorable to the unmanned aerial vehicle cluster to make the flight task of unmanned aerial vehicle cluster more accurate at the in-process of flying. Therefore, the unmanned aerial vehicle cluster synchronization coordination control method, the unmanned aerial vehicle cluster synchronization coordination control system, the electronic device and the computer readable storage medium can solve the problem of low efficiency in unmanned aerial vehicle cluster coordination control.
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Fig. 1 is a schematic flow chart of a synchronization coordination control method for an unmanned aerial vehicle cluster according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for acquiring a flight environment according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a procedure for flying to a target location according to an embodiment of the present invention;
fig. 4 is a functional block diagram of a synchronization coordination control system of an unmanned aerial vehicle cluster according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the application provides a synchronous coordination control method of an unmanned aerial vehicle cluster. The execution subject of the synchronization coordination control method for the unmanned aerial vehicle cluster includes, but is not limited to, at least one of electronic devices that can be configured to execute the method provided by the embodiments of the present application, such as a server, a terminal, and the like. In other words, the synchronization coordination control method for the drone cluster may be executed by software or hardware installed in a terminal device or a server device, and the software may be a block chain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like. The server may be an independent server, or may be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a Content Delivery Network (CDN), a big data and artificial intelligence platform, and the like.
Fig. 1 is a schematic flow diagram of a synchronization coordination control method for a square unmanned aerial vehicle cluster according to an embodiment of the present invention. In this embodiment, the method for synchronous coordination control of an unmanned aerial vehicle cluster includes:
s1, acquiring a preset flight task of an unmanned aerial vehicle cluster and an initial direction and initial position coordinates of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, and generating an initial formation form of the unmanned aerial vehicle cluster according to the flight task, the initial direction and the initial position coordinates;
in the embodiment of the invention, the flight mission refers to the mission requirement that an unmanned aerial vehicle needs to be specifically completed, for example, in the military field, the flight mission of the unmanned aerial vehicle mainly comprises investigation, induction, communication relay and the like; in the national economy field, the flight tasks of the unmanned aerial vehicle mainly include artificial rainfall, meteorological prediction, geodetic survey and the like; in the field of science and technology, the flight task of unmanned aerial vehicles is mainly to sample the pollutants such as biochemistry in polluted areas. The initial direction is the initial yaw angle direction and the initial pitch angle direction of each unmanned aerial vehicle in the unmanned aerial vehicle cluster; the initial position coordinates are the displacement of each drone in the cluster of drones in the transverse direction, the displacement in the longitudinal direction and the displacement in the height direction.
In detail, the initial direction and initial position coordinates of each drone in the drone cluster may be acquired using the sensors that each drone has itself.
In the embodiment of the invention, the formation of the formation forms of the unmanned aerial vehicle clusters can be different according to different flight tasks, the formation of the formation forms of the unmanned aerial vehicles has a crucial effect on cooperative formation control, and meanwhile, the unmanned aerial vehicle cooperative formation is guaranteed to complete specified and complex tasks.
In an embodiment of the present invention, the generating an initial formation form of the unmanned aerial vehicle cluster according to the flight mission, the initial direction, and the initial position coordinate includes:
selecting one unmanned aerial vehicle in the unmanned aerial vehicle cluster as a piloting unmanned aerial vehicle according to the flight task;
determining the relative direction and the relative distance between other unmanned aerial vehicles in the unmanned aerial vehicle cluster and the piloting unmanned aerial vehicle;
adjusting the initial direction and the initial position coordinate of each unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the relative direction and the relative distance to obtain an adjustment direction and an adjustment position coordinate of each unmanned aerial vehicle;
and determining an initial formation form of the unmanned aerial vehicle cluster according to the adjustment direction and the adjustment direction position coordinates.
In detail, unmanned aerial vehicle formation all has certain symmetry, and the benefit that has the symmetry lies in the reference point in the definite formation that unmanned aerial vehicle formation can be fine, selects an unmanned aerial vehicle in the unmanned aerial vehicle cluster as the piloting unmanned aerial vehicle promptly according to the flight task, regards piloting unmanned aerial vehicle as the reference point of unmanned aerial vehicle formation. After the reference point is determined, the position and direction information of other unmanned aerial vehicles in the formation of the unmanned aerial vehicles is obtained through the sensor equipment of each unmanned aerial vehicle, namely, the communication between the piloting unmanned aerial vehicle and the other unmanned aerial vehicles is realized through the sensor, and therefore the relative direction and the relative distance between the piloting unmanned aerial vehicle and the other unmanned aerial vehicles in the unmanned aerial vehicle cluster are determined.
Illustratively, when the initial formation intends to form a triangular unmanned aerial vehicle formation, if the initial direction of the piloted unmanned aerial vehicle is north flight, the initial direction of the unmanned aerial vehicle 1 in the unmanned aerial vehicle cluster is south flight, and the initial direction of the unmanned aerial vehicle 2 is east flight, the direction of the piloted unmanned aerial vehicle is adjusted, the direction adjustment of the unmanned aerial vehicle 1 and the direction adjustment of the unmanned aerial vehicle 2 are consistent with the direction of the piloted unmanned aerial vehicle, that is, the initial direction of the unmanned aerial vehicle 1 is adjusted from south flight to north flight, and the initial direction of the unmanned aerial vehicle 2 is adjusted from east flight to north flight. When the initial coordinate of the piloted drone is (x) 1 ，y 1 ，z 1 ) The relative distance between other unmanned aerial vehicles in the unmanned aerial vehicle cluster and the piloting unmanned aerial vehicle is L in the transverse direction, R in the longitudinal direction and H in the height direction, and the initial position coordinates are adjusted to (x) according to the requirement of the triangular unmanned aerial vehicle formation unmanned aerial vehicle 1 1 -L，y 1 +R，z 1 + H), the drone 2 needs to adjust the initial position coordinates to (x) 1 -L，y 1 -R，z 1 + H), therefore, an initial formation of the cluster of drones can be formed according to the adjustment direction and the adjustment position coordinates of each drone in the cluster of drones.
S2, acquiring a coordination control instruction of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, acquiring a flight environment of the unmanned aerial vehicle cluster in the flight process according to the initial formation, and judging whether barriers exist in the flight environment;
in the embodiment of the invention, the coordination control instruction comprises information interaction between the unmanned aerial vehicles, a formation control strategy and an environment adaptation strategy.
In detail, accessible ground control station is unified to be obtained every unmanned aerial vehicle's coordinated control instruction in the unmanned aerial vehicle cluster, and wherein ground control station establishes the contact with every unmanned aerial vehicle in the unmanned aerial vehicle cluster, can carry out command control to every unmanned aerial vehicle, consequently can realize every unmanned aerial vehicle's coordinated control in the unmanned aerial vehicle cluster, makes unmanned aerial vehicle according to successful arrival target location.
In the embodiment of the invention, the flight environment comprises the flight environments of the unmanned aerial vehicle cluster, such as terrain conditions, no-fly zones, sudden threats, artificial damage threats and the like in the flight process.
In an embodiment of the present invention, referring to fig. 2, the acquiring a flight environment of the unmanned aerial vehicle cluster in a flight process according to the initial formation includes:
s21, collecting an environment image of the unmanned aerial vehicle cluster in the flying process according to the initial formation by using laser radar scanning equipment carried by the unmanned aerial vehicle;
s22, reducing the environment image by using the following image reduction algorithm to obtain a reduced environment image:
wherein g (x, y) is the mapping pixel coordinate of the reduced environment image, f t Is the weight, x, of the t-th pixel point t Is the abscissa, y, of the t-th pixel t The vertical coordinate of the t-th pixel point is, and n is the number of the pixel points of the environment image;
and S23, filtering the reduced environment image to obtain a filtered image, and taking the filtered image as the flight environment.
In detail, the laser radar scanning device carried by the unmanned aerial vehicle obtains point cloud data, analyzes the point cloud data by software, and obtains the position and height of a tree peak and the height and distance of other obstacles in a flight environment based on monocular segmentation and a seed point layer stacking algorithm. The high-density laser radar scanning equipment can acquire environmental parameters and parameters of a single tree or a peak. In addition, the laser radar scanning equipment is highly integrated with a laser radar scanner, a global navigation satellite system, an IMU positioning and attitude determining system and a storage control unit, and can dynamically and massively acquire high-precision point cloud data and rich image information in real time. Thus, the deviceAnd extracting and analyzing the point cloud data and the image information acquired by the laser radar scanning device on software to obtain an environment image in the flying process of the unmanned aerial vehicle. Through the steps, the environmental characteristics (such as the height of a peak, the action range of the radar and the like), the obstacle information, the distance and the like of the flight environment are acquired. In particular, f in the image reduction algorithm t The weight value of a pixel point in an environment image is generally determined by the distance between the pixel point and a corresponding pixel point, and if the resolution of an original image g (x, y) is mxn, sampling is performed to reduce the image g (x) after the image is reduced ' ,y ' ) Has a resolution of m ' ×n ' Therefore, the detection time of the obstacles in the environment image can be shortened by reducing the environment image, and the obstacle avoidance real-time performance of the unmanned aerial vehicle is guaranteed.
In an embodiment of the present invention, the determining whether an obstacle exists in the flying environment includes:
determining a threat level of unmanned aerial vehicle cluster flight in the flight environment;
when the threat degree is greater than or equal to a preset threshold value, an obstacle exists in the flight environment;
when the threat level is less than the threshold, no obstacle is present in the flight environment.
In detail, the threat degree mainly comprises a terrain threat and a radar threat, for example, the terrain threat can meet a peak in the flight process of the unmanned aerial vehicle, and the threat degree of the peak to the unmanned aerial vehicle can be determined according to the height of the peak; the radar threat has great interference on the influence of the unmanned aerial vehicle formation on the task execution, the radar works at every moment, the action range is very large, the threat degree of the unmanned aerial vehicle cluster flying can be determined according to the area which can be detected by the radar, the unmanned aerial vehicle cluster can fly in the area which can be detected by the radar, and the threat degree has threat on the unmanned aerial vehicle cluster; unmanned aerial vehicle flies in the region that the radar can not detect, just does not have the threat degree to unmanned aerial vehicle cluster.
Specifically, if the threshold is 0, when the threat degree is less than 0, it indicates that there is an obstacle in the flying environment, and the unmanned aerial vehicle cluster needs to adjust the position of the unmanned aerial vehicle to cross the obstacle; when the threat degree is greater than or equal to 0, the flying environment does not have any threat to the flying of the unmanned aerial vehicle cluster, and the unmanned aerial vehicle cluster can fly to the target position according to the initial formation.
S3, when no obstacle exists in the flying environment, flying the unmanned aerial vehicle cluster to a target position according to the initial formation according to the coordination control instruction;
in one practical application scenario of the invention, in order to complete a certain task, formation keeping and formation changing are required when formation flying is performed by a formation formed by a plurality of unmanned aerial vehicles, and the purpose of reaching a target position in an environment with obstacles is achieved. When the formation starts to fly, the formation of certain formation needs to be completed; the formation needs to be kept in the environment without the obstacles, and the formation needs to be changed to avoid the obstacles in the environment with the obstacles, so that the target position is finally reached.
In an embodiment of the present invention, referring to fig. 3, the flying the unmanned aerial vehicle cluster to a target position according to the initial formation according to the coordination control instruction includes:
s31, acquiring a final position coordinate of the target position;
s32, determining the flying direction vector of each unmanned aerial vehicle in the initial formation according to the initial target position and the final position coordinate by using the following direction vector formula:
wherein (x) 1 ，y 1 ，z 1 ) Is the direction vector, (x) t ，y t ，z t ) Is the initial target position, (x) k ，y k ，z k ) Is the final position coordinate;
and S33, flying each unmanned aerial vehicle in the unmanned aerial vehicle cluster to a target position according to the direction vector according to the coordination control instruction.
In detail, the direction vector of the flight in the unmanned aerial vehicle cluster is calculated by using a direction vector formula according to the initial target position and the final position coordinate, so that the unmanned aerial vehicle cluster can fly in the correct direction, and each unmanned aerial vehicle in the unmanned aerial vehicle cluster is prevented from separating from the correct direction. Every unmanned aerial vehicle in the unmanned aerial vehicle cluster all can have the direction vector, and at the in-process of formation flight, formation can not change, and every unmanned aerial vehicle flies to the target location according to the direction vector of self in the unmanned aerial vehicle cluster.
Specifically, the final position coordinates of the unmanned aerial vehicle cluster can be determined before the unmanned aerial vehicle cluster flies, the flying direction of the unmanned aerial vehicle cluster can be obtained according to the initial target position and the final target position, and the unmanned aerial vehicle can complete flying movement according to the flying direction. Every unmanned aerial vehicle all has the coordinated control instruction, and when the unmanned aerial vehicle cluster did not have the barrier at the flight in-process, the coordinated control instruction will be according to flight direction control unmanned aerial vehicle cluster and fly along flight direction according to initial formation, until the unmanned aerial vehicle cluster flies to the target location.
S4, when an obstacle exists in the flying environment, monitoring the minimum distance between each unmanned aerial vehicle and the obstacle, and when the minimum distance is smaller than a preset threshold value, adjusting the position of the unmanned aerial vehicle with the minimum distance from the obstacle in the unmanned aerial vehicle cluster according to the coordination control instruction to obtain an updated formation form;
in the embodiment of the invention, when the obstacle exists in the flight environment, the unmanned aerial vehicle cluster needs to take obstacle avoidance action. The obstacle avoidance behavior refers to a behavior that the unmanned aerial vehicle avoids colliding with a static obstacle, and when the obstacle is static, the behavior of avoiding colliding with the static obstacle can be determined.
In an embodiment of the present invention, the monitoring a minimum distance between each unmanned aerial vehicle and the obstacle includes:
acquiring the obstacle position of the obstacle;
monitoring the distance value between the flight position of each unmanned aerial vehicle and the obstacle position;
and selecting the distance with the minimum distance value as the minimum distance.
In detail, the distance measuring sensor carried by the unmanned aerial vehicle can be used for acquiring the obstacle position of the obstacle, namely when the obstacle appears in the airspace, the distance measuring sensor can timely send the position information of the obstacle to the unmanned aerial vehicle, so that the unmanned aerial vehicle can appropriately avoid the obstacle according to the obstacle information.
Specifically, when meetting the barrier at the in-process that unmanned aerial vehicle flies, every unmanned aerial vehicle in the unmanned aerial vehicle cluster can be more and more near apart from the barrier at the in-process of flying, and every unmanned aerial vehicle all can have certain distance apart from the barrier, but has an unmanned aerial vehicle to be minimum distance apart from the barrier in the unmanned aerial vehicle cluster, when this minimum distance is less than safe distance, will adjust the position of unmanned aerial vehicle in formation.
In the embodiment of the invention, the unmanned aerial vehicle may have obstacles such as buildings, mountains, bird groups and the like in the actual flying airspace, and the existence of the obstacles threatens the flying safety of the unmanned aerial vehicle. In addition, keep away the barrier in-process, the distance between the unmanned aerial vehicle also can be changed along with the formation is kept away the barrier, and mishandling just very easily takes place to collide with each other.
In an embodiment of the present invention, the adjusting, according to the coordination control instruction, a position of the drone in the drone cluster that is the smallest distance from the obstacle to obtain an updated formation includes:
determining a safe distance between each drone in the cluster of drones and the obstacle using a distance algorithm as follows:
wherein D is the safety distance, D 0 Is the radius of the obstacle, D u For the radius of the drone, τ is the distance, H, required by the uncertainty of the system information of the drone v For adjusting the control parameter of the relative speed, H α In order to adjust the control parameters of the relative angle,
the moving speed of the unmanned aerial vehicle relative to the barrier is alpha, the included angle between the flying speed of the unmanned aerial vehicle and the connecting line between the unmanned aerial vehicle and the barrier is alpha, and cos is a cosine function;
adjusting the distance of the unmanned aerial vehicle with the minimum distance to the obstacle to a safe distance;
and determining the updated formation form of the unmanned aerial vehicle cluster according to the safety distance.
In detail, τ is the distance that unmanned aerial vehicle system information uncertainty needs to possess in the distance algorithm for when meeting emergency according to unmanned aerial vehicle, according to the distance that emergency was adjusted, be favorable to improving safe distance's accuracy, wherein, safe distance means unmanned aerial vehicle detects the barrier after and begins to keep away the distance of barrier when moving with the barrier, consequently should set up suitable safe distance in advance and make unmanned aerial vehicle keep away the barrier in advance. When the included angle alpha is larger than pi/2, the unmanned aerial vehicle is safe, and the large safe distance does not need to be kept, namely the size of the relative included angle needs to be considered when the safe distance is determined.
Specifically, when the minimum distance is less than the preset threshold value, the unmanned aerial vehicle with the minimum distance to the obstacle in the unmanned aerial vehicle formation is adjusted to the safe distance, so that the unmanned aerial vehicle can avoid the obstacle to be located at a safe position, and the unmanned aerial vehicle needs to adjust the current position to the safe distance through climbing or descending.
In this embodiment of the present invention, the determining an updated formation of the unmanned aerial vehicle cluster according to the safe distance includes:
determining a formation effort of adjacent drones in the cluster of drones using an effort algorithm as follows:
wherein F is the formation force, r min Is the minimum value of the radius of the flight radius of the unmanned plane in the flight area, r max The maximum value of the flight radius of the unmanned aerial vehicle in the flight area, and r is the flight of the unmanned aerial vehicle in the repulsion areaRadius of (a), r 1 Radius for unmanned aerial vehicle flying in attraction zone, p ij Is the relative distance between the unmanned plane j and the unmanned plane i, m is the number of unmanned planes in the unmanned plane cluster, q i Virtual force for drone i, q j Is the virtual force of drone j;
and determining the updated formation form of the unmanned aerial vehicle cluster according to the safe distance and the formation acting force.
In detail, the virtual force of the unmanned aerial vehicles in the acting force algorithm can be divided into a formation repulsive force and a formation attractive force, and the formation repulsive force enables the adjacent unmanned aerial vehicles to move in opposite directions, so that collision among the unmanned aerial vehicles is avoided; the formation gravitation enables the adjacent and far unmanned aerial vehicles to move in opposite directions, so that the unmanned aerial vehicles are prevented from being lost, and the formation shape is kept by adjusting the self state according to the acting force between the adjacent unmanned aerial vehicles in the unmanned aerial vehicle cluster by using a preset obstacle avoidance control algorithm. The obstacle avoidance control algorithm is improved based on an artificial potential field method, a virtual attractive potential field is assumed to be formed on the unmanned aerial vehicle by the target point, and a virtual repulsive potential field is formed on the unmanned aerial vehicle by each obstacle, so that the environmental information can be reflected in the change of the value of the potential field, and the state of the obstacle avoidance control algorithm can be adjusted according to the acting force between the unmanned aerial vehicles to keep the formation.
Specifically, can adjust the position of unmanned aerial vehicle in unmanned aerial vehicle formation according to the mutual distance between the distance between unmanned aerial vehicle and the barrier and the unmanned aerial vehicle in the unmanned aerial vehicle cluster, when having many unmanned aerial vehicles in unmanned aerial vehicle i's communication range, will according to safe distance with formation effort and the neighbor unmanned aerial vehicle in the communication range coordinate, avoid individual collision.
And S5, when an obstacle exists in the process that the unmanned aerial vehicle cluster continues to fly according to the updated formation, returning to the step S4 until the unmanned aerial vehicle cluster flies to a target position according to the updated formation according to the coordination control instruction.
In the embodiment of the invention, when the unmanned aerial vehicle cluster encounters an obstacle in the flying process, obstacle avoidance behavior is carried out to obtain a new formation, and when the unmanned aerial vehicle cluster crosses the obstacle, the unmanned aerial vehicle cluster continues flying according to the updated formation, but the unmanned aerial vehicle cluster may encounter the obstacle more than once in the flying process, sometimes even encounter many obstacles, and the formation is adjusted when the unmanned aerial vehicle cluster encounters the obstacle until each unmanned aerial vehicle in the unmanned aerial vehicle cluster flies to a target position according to a coordination control instruction.
In this embodiment of the present invention, the step of flying the unmanned aerial vehicle cluster to the target position according to the updated formation form according to the coordination control instruction is consistent with the step of flying the unmanned aerial vehicle cluster to the target position according to the initial formation form according to the coordination control instruction in S3, and details are not repeated here.
The method and the device realize the generation of the initial formation of the unmanned aerial vehicle cluster by acquiring the flight tasks of the unmanned aerial vehicle cluster and the initial direction and the initial position coordinates of each unmanned aerial vehicle in the unmanned aerial vehicle cluster; the method comprises the steps that the flying environment of the unmanned aerial vehicle in the flying process is obtained, whether barriers exist in the flying environment or not is judged, when the barriers do not exist in the flying environment, each unmanned aerial vehicle in the unmanned aerial vehicle cluster is controlled to fly to a target position according to an initial formation form according to a coordination control instruction, and therefore the flying task completion efficiency of the unmanned aerial vehicle cluster is improved; when there is the barrier in the environment of flying, adjust initial formation according to the barrier that meets, make the unmanned aerial vehicle cluster can fly to the target location accurately, and then be favorable to the unmanned aerial vehicle cluster to make the flight task of unmanned aerial vehicle cluster more accurate at the in-process of flying. Therefore, the unmanned aerial vehicle cluster synchronization coordination control method, the unmanned aerial vehicle cluster synchronization coordination control system, the electronic device and the computer readable storage medium can solve the problem of low efficiency in unmanned aerial vehicle cluster coordination control.
Fig. 4 is a functional block diagram of a synchronization coordination control system of an unmanned aerial vehicle cluster according to an embodiment of the present invention.
The synchronous coordination control system of the unmanned aerial vehicle cluster can be installed in electronic equipment and can be the synchronous coordination control system 100 of the unmanned aerial vehicle cluster. According to the realized functions, the synchronized coordination control system 100 of the unmanned aerial vehicle cluster may include an initial formation generation module 101, a flight environment acquisition module 102, an unmanned aerial vehicle cluster flight module 103, an unmanned aerial vehicle position adjustment module 104, and an update formation adjustment module 105. The module of the present invention, which may also be referred to as a unit, refers to a series of computer program segments that can be executed by a processor of an electronic device and that can perform a fixed function, and that are stored in a memory of the electronic device.
In the present embodiment, the functions regarding the respective modules/units are as follows:
the initial formation queue shape generation module 101 is configured to acquire a preset flight task of an unmanned aerial vehicle cluster and an initial direction and an initial position coordinate of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, and generate an initial formation queue shape of the unmanned aerial vehicle cluster according to the flight task, the initial direction and the initial position coordinate;
the flight environment acquisition module 102 is configured to acquire a coordination control instruction of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, acquire a flight environment of the unmanned aerial vehicle cluster in a flight process according to the initial formation, and determine whether an obstacle exists in the flight environment;
the unmanned aerial vehicle cluster flight module 103 is configured to, when no obstacle exists in the flight environment, fly the unmanned aerial vehicle cluster to a target position according to the initial formation form according to the coordination control instruction;
the unmanned aerial vehicle position adjusting module 104 is configured to monitor a minimum distance between each unmanned aerial vehicle and an obstacle when the obstacle exists in the flight environment, and adjust a position of an unmanned aerial vehicle having a minimum distance from the obstacle in the unmanned aerial vehicle cluster according to the coordination control instruction when the minimum distance is smaller than a preset threshold value, so as to obtain an updated formation form;
and the update formation queue shape adjusting module 105 is configured to, when an obstacle exists in the process that the unmanned aerial vehicle cluster continues to fly according to the update formation queue shape, return to the step S4 until the unmanned aerial vehicle cluster flies to a target position according to the update formation queue shape according to the coordination control instruction.
In detail, in the embodiment of the present invention, when being used, each module in the synchronization coordination control system 100 of the unmanned aerial vehicle cluster adopts the same technical means as the synchronization coordination control method of the unmanned aerial vehicle cluster described in fig. 1 to fig. 3, and can produce the same technical effect, which is not described herein again.
In the several embodiments provided in the present invention, it should be understood that the disclosed system and method may be implemented in other manners. For example, the system embodiments described above are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
The embodiment of the application can acquire and process related data based on an artificial intelligence technology. Among them, artificial Intelligence (AI) is a theory, method, technique and application system that simulates, extends and expands human Intelligence using a digital computer or a machine controlled by a digital computer, senses the environment, acquires knowledge and uses the knowledge to obtain the best result.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or systems recited in the system claims may also be implemented by one unit or system in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (8)
1. A synchronization coordination control method for an unmanned aerial vehicle cluster is characterized by comprising the following steps:
s1, acquiring a preset flight task of an unmanned aerial vehicle cluster and an initial direction and an initial position coordinate of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, and generating an initial formation form of the unmanned aerial vehicle cluster according to the flight task, the initial direction and the initial position coordinate;
s2, obtaining the coordinated control instruction of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, obtaining the unmanned aerial vehicle cluster according to the flight environment in the flight process of the initial formation, and judging whether barriers exist in the flight environment, wherein the obtaining of the flight environment of the unmanned aerial vehicle cluster according to the flight process of the initial formation comprises the following steps:
s21, collecting an environment image of the unmanned aerial vehicle cluster in the flying process according to the initial formation by using laser radar scanning equipment carried by the unmanned aerial vehicle;
s22, reducing the environment image by using the following image reduction algorithm to obtain a reduced environment image:
wherein g (x, y) is the mapping pixel coordinate of the reduced environment image, f t Is the weight, x, of the t-th pixel point t Is the abscissa, y, of the t-th pixel t The vertical coordinate of the t-th pixel point is, and n is the number of the pixel points of the environment image;
s23, filtering the reduced environment image to obtain a filtered image, and taking the filtered image as the flying environment;
s3, when no obstacle exists in the flying environment, flying the unmanned aerial vehicle cluster to a target position according to the initial formation according to the coordination control instruction;
s4, when an obstacle exists in the flying environment, monitoring the minimum distance between each unmanned aerial vehicle and the obstacle, and when the minimum distance is smaller than a preset threshold value, adjusting the position of the unmanned aerial vehicle with the minimum distance from the obstacle in the unmanned aerial vehicle cluster according to the coordination control instruction to obtain an updated formation form;
and S5, when an obstacle exists in the process that the unmanned aerial vehicle cluster continues to fly according to the updated formation, returning to the step S4 until the unmanned aerial vehicle cluster flies to a target position according to the updated formation according to the coordination control instruction.
2. The method of claim 1, wherein the generating an initial formation of the cluster of drones from the mission, the initial direction, and the initial position coordinates comprises:
selecting one unmanned aerial vehicle in the unmanned aerial vehicle cluster as a piloting unmanned aerial vehicle according to the flight task;
determining the relative direction and the relative distance between other unmanned aerial vehicles in the unmanned aerial vehicle cluster and the piloting unmanned aerial vehicle;
adjusting the initial direction and the initial position coordinates of each unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the relative direction and the relative distance to obtain the adjustment direction and the adjustment position coordinates of each unmanned aerial vehicle;
and determining an initial formation form of the unmanned aerial vehicle cluster according to the adjustment direction and the adjustment direction position coordinates.
3. The method of claim 1, wherein the determining whether an obstacle exists in the flight environment comprises:
determining the threat degree of the unmanned aerial vehicle cluster in the flight environment;
when the threat degree is greater than or equal to a preset threshold value, an obstacle exists in the flight environment;
when the threat level is less than the threshold, no obstacle is present in the flight environment.
4. The method of claim 1, wherein the flying the cluster of drones to a target location according to the initial formation according to the coordinated control command comprises:
acquiring a final position coordinate of the target position;
determining the flying direction vector of each unmanned aerial vehicle in the initial formation form according to the initial target position and the final position coordinate by using the following direction vector formula:
wherein (x) 1 ，y 1 ，z 1 ) Is the direction vector, (x) t ，y t ，z t ) Is the initial target position, (x) k ，y k ，z k ) Is the final position coordinate;
and flying each unmanned aerial vehicle in the unmanned aerial vehicle cluster to a target position according to the direction vector according to the coordination control instruction.
5. The method of claim 1, wherein the monitoring a minimum distance of each drone from the obstacle comprises:
acquiring the obstacle position of the obstacle;
monitoring the distance value between the flight position of each unmanned aerial vehicle and the obstacle position;
and selecting the distance with the minimum distance value as the minimum distance.
6. The method according to any one of claims 1 to 5, wherein the adjusting, according to the coordination control instruction, the position of the drone in the drone cluster that is the smallest distance from the obstacle to obtain an updated formation form includes:
determining a safe distance between each drone in the cluster of drones and the obstacle using a distance algorithm as follows:
wherein D is the safety distance, D 0 Is the radius of the obstacle, D u For the radius of the drone, τ is the distance, H, required to be possessed by the drone system information uncertainty v For adjusting the control parameter of the relative speed, H α In order to adjust the control parameters of the relative included angle,
for the speed of movement of the drone relative to the obstacle, alpha for the drone to flyThe included angle between the line speed and the connecting line from the unmanned aerial vehicle to the obstacle, cos is a cosine function;
adjusting the distance of the unmanned aerial vehicle with the minimum distance to the obstacle to a safe distance;
and determining the updated formation form of the unmanned aerial vehicle cluster according to the safety distance.
7. The method of claim 6, wherein the determining an updated formation of the cluster of drones based on the safety distance comprises:
determining a formation effort of adjacent drones in the cluster of drones using an effort algorithm as follows:
wherein F is the formation force, r min Is the minimum value of the radius of the flight radius of the unmanned plane in the flight area, r max The maximum value of the flight radius of the unmanned aerial vehicle in the flight area, r is the flight radius of the unmanned aerial vehicle in the repulsion area, r 1 Radius for unmanned aerial vehicle flying in attraction zone, p ij Is the relative distance between the unmanned plane j and the unmanned plane i, m is the number of unmanned planes in the unmanned plane cluster, q i Virtual force for drone i, q j Is the virtual force of drone j;
and determining the updated formation form of the unmanned aerial vehicle cluster according to the safe distance and the formation acting force.
8. A synchronous coordinated control system of an unmanned aerial vehicle cluster, the system comprising:
an initial formation module for acquiring the preset flight tasks of the unmanned aerial vehicle cluster and the initial direction and initial position coordinates of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, generating an initial formation form of the unmanned aerial vehicle cluster according to the flight task, the initial direction and the initial position coordinates;
the flight environment acquisition module is used for acquiring a coordination control instruction of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, acquiring a flight environment of the unmanned aerial vehicle cluster in the flight process according to the initial formation, and judging whether a barrier exists in the flight environment;
the unmanned aerial vehicle cluster flying module is used for flying the unmanned aerial vehicle cluster to a target position according to the initial formation according to the coordination control instruction when no barrier exists in the flying environment;
the unmanned aerial vehicle position adjusting module is used for monitoring the minimum distance between each unmanned aerial vehicle and the obstacle when the obstacle exists in the flight environment, and adjusting the position of the unmanned aerial vehicle with the minimum distance from the obstacle in the unmanned aerial vehicle cluster according to the coordination control instruction when the minimum distance is smaller than a preset threshold value to obtain an updated formation form;
and the update formation adjusting module is used for returning to the step S4 when an obstacle exists in the process that the unmanned aerial vehicle cluster continues to fly according to the update formation, until the unmanned aerial vehicle cluster flies to a target position according to the update formation according to the coordination control instruction.
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