摘要
针对采用领航-跟随者策略的无人机编队在飞行过程中因通信故障而无法维持编队队形的问题,提出一种基于一跳邻居的拓扑重构方法。在编队飞行前,综合考虑位置误差的传递迭代以及距离因素对通信代价的影响,基于最小生成树问题对通信拓扑进行初始化,在减小编队误差的同时保证通信代价最优。进一步,在因故障导致通信拓扑中断后,通过局部节点间的拓扑重构恢复连通性,确保所有无人机的安全及编队队形的维持。最后,通过仿真实验验证了上述方法的有效性。与现有研究相比,所提方法采用局部编队信息代替全局信息,减少参与重构的无人机数量,更适用于不同规模的无人机编队,同时能够有效降低大规模编队拓扑重构的计算时间和资源消耗。
A topology reconstruction method based on one-hop neighbors is proposed to address challenges in unmanned aerial vehicle formation with leader-follower strategy that struggle to maintain formation shape during flight due to communication faults.Before formation flight,the proposed method comprehensively considers the impact of transmission iteration of position errors and the distance factor on communication costs.The communication topology is initialized based on the minimum spanning tree problem,ensuring optimal communication costs while reducing formation errors.In the event of communication topology interruption caused by faults,connectivity is restored through topology reconstruction between local nodes,guaranteeing unmanned aerial vehicles’safety and formation maintenance.Finally,simulation experiments demonstrate the effectiveness of the proposed method.Compared to existing research,the proposed method substitutes global information with local formation details to decrease the number of unmanned aerial vehicles involved in reconstruction,which makes it more adaptable to unmanned aerial vehicle formations of different scales and effectively reduces the computational time and resource consumption in large-scale formation topology reconstruction.
作者
宋怡成
齐瑞云
SONG Yicheng;QI Ruiyun(State Key Laboratory of Mechanics and Control for Aerospace Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《系统工程与电子技术》
北大核心
2025年第5期1706-1717,共12页
Systems Engineering and Electronics
基金
国家自然科学基金(62020106003)资助课题。
关键词
无人机编队
通信故障
拓扑重构
编队保持
unmanned aerial vehicle formation
communication fault
topology reconstruction
formation
