CN-121995941-A - Consistency control method and device for unmanned aerial vehicle cluster system

CN121995941ACN 121995941 ACN121995941 ACN 121995941ACN-121995941-A

Abstract

The application provides a consistency control method and device for an unmanned aerial vehicle cluster system. The method comprises the steps that each unmanned aerial vehicle collects initial state values of at least one state quantity of a target object and decomposes the initial state values into a plurality of sub-state values, maintains a total state variable, a total number variable and an auxiliary variable, judges whether the unmanned aerial vehicle meets a message sending condition or not based on preset state non-zero constraint and topology memory constraint, generates consistency update information carrying part of non-zero sub-state values and auxiliary variable values and sends the consistency update information to an outgoing neighbor of the unmanned aerial vehicle when the message sending condition is met, sets the part of non-zero sub-state values and auxiliary variable values of the unmanned aerial vehicle to zero, and when the unmanned aerial vehicle receives the consistency update information, updates a local variable value based on the consistency update information to carry out consensus judgment based on the updated variable value. The technical scheme can improve the communication efficiency, the safety and the operation reliability of the consistency control process.

Inventors

WU YIMING
JIN XINLONG
HE YUNDONG
GUO FENGXIAN
ZHANG YI
PAN XIAOZHEN

Assignees

杭州电子科技大学

Dates

Publication Date: 20260508
Application Date: 20260407

Claims (10)

1. A consistency control method of an unmanned aerial vehicle cluster system is characterized in that the unmanned aerial vehicle cluster system comprises a plurality of unmanned aerial vehicles, at least one information transmission path exists between any two unmanned aerial vehicles, each unmanned aerial vehicle collects initial state values of at least one state quantity of a target object and decomposes the initial state values into a plurality of sub-state values, each sub-state value is randomly generated locally by the unmanned aerial vehicle, each unmanned aerial vehicle maintains a total state variable, a total number variable and an auxiliary variable, the total state variable and the total number variable are initialized to be zero, the auxiliary variable is initialized to be 2, and the method comprises the following steps: Step S1, each unmanned aerial vehicle in an unmanned aerial vehicle cluster system judges whether the unmanned aerial vehicle meets a message sending condition or not based on a preset state non-zero constraint and a topology memory constraint, wherein the state non-zero constraint refers to that when at least one sub-state value of the unmanned aerial vehicle is not zero, a consistency update message is allowed to be sent to an outgoing neighbor, and the topology memory constraint refers to that when the sum value of all sub-states of the unmanned aerial vehicle at the last moment is zero and the unique incoming neighbor at the last moment is the outgoing neighbor determined at the current moment, the consistency update message is forbidden to be sent to the outgoing neighbor; step S2, when the unmanned aerial vehicle meets the message sending condition, the unmanned aerial vehicle randomly selects part of non-zero sub-state values from the local sub-state values, generates a consistency update message based on the selected non-zero sub-state values and the auxiliary variable values and sends the consistency update message to the unmanned aerial vehicle to the neighbors, and sets the selected non-zero sub-state values and the auxiliary variable values of the unmanned aerial vehicle to zero; And S3, when each unmanned aerial vehicle in the unmanned aerial vehicle cluster system receives the consistency update message, updating a local total state variable value, a total number variable value and an auxiliary variable value based on a non-zero sub-state value and the auxiliary variable value carried by the consistency update message, determining whether the unmanned aerial vehicle cluster agrees with the state quantity of the target object according to the updated total state variable value and total number variable value, and determining an consensus value of the state quantity based on the total state variable value and the total number variable value under the condition of agreeing.
2. The method according to claim 1, wherein each drone further maintains a path queue, the capacity of the path queue being the number of drones in the drone cluster system, the step S3 comprising: when the unmanned aerial vehicle receives the consistency update message, the unmanned aerial vehicle identifier generating the consistency update message is written into the tail of the path queue, and under the condition that the size of the path queue reaches the upper limit of the queue capacity, the dequeuing operation is executed for the head unmanned aerial vehicle identifier according to the first-in first-out principle.
3. The method according to claim 2, wherein the step S2 comprises: and selecting the neighbor from the neighbors which never appear in the path queue when the consistency update message is sent, and selecting the neighbor which enters the path queue earliest as the exit neighbor if all the neighbors appear in the path queue.
4. The method according to claim 1, wherein the coherence update message further carries a sub-state index of the selected sub-state value, the step S3 comprising: When the unmanned aerial vehicle receives the consistency update message, determining the parity of the sub-state index of each sub-state carried by the consistency update message; if the sub-state index is odd, adding the sub-state value corresponding to the odd sub-state index with the sub-state value of which the sub-state index is 1 in the unmanned plane local area, and updating the added sum value to be a new sub-state value corresponding to the sub-state index is 1; And if the sub-state index is even, adding the sub-state value corresponding to the even sub-state index with the sub-state value of which the local sub-state index of the unmanned plane is 2, and updating the added sum value to be a new sub-state value corresponding to the sub-state index of 2.
5. The method according to claim 4, wherein the step S3 includes: and updating the maximum value of the sum value of all updated sub-state values and the total state variable value at the last moment to be the total state variable value at the current moment.
6. The method according to claim 1, wherein the step S3 comprises: When the unmanned aerial vehicle receives the consistency update message, the auxiliary variable value carried by the consistency update message is added with the auxiliary variable value of the unmanned aerial vehicle, and after the added sum value is updated to be a new auxiliary variable value of the unmanned aerial vehicle, the maximum value of the new auxiliary variable value and the total variable value of the last moment is updated to be the total variable value of the current moment.
7. The method according to claim 1, wherein the step S3 comprises: And determining whether the state quantity of the unmanned aerial vehicle cluster to the target object achieves consensus or not under the condition that the updated total state variable value converges and the updated total state variable value converges.
8. The method according to claim 1, wherein each drone decomposes the initial state value into a sum of a plurality of sub-state values half of the initial state value, the step S3 comprising: In the event that consensus is reached, the ratio of the converged total state variable value to the converged total state variable value is determined as the consensus value for the state quantity.
9. The utility model provides a uniformity controlling means of unmanned aerial vehicle cluster system, its characterized in that includes unmanned aerial vehicle cluster system includes a plurality of unmanned aerial vehicles, there is at least one information transmission route between any two unmanned aerial vehicles, and each unmanned aerial vehicle gathers the initial state value of at least one state quantity of target object and breaks down initial state value into a plurality of sub-state values, and each sub-state value is generated by unmanned aerial vehicle local randomness, and each unmanned aerial vehicle maintains total state variable, total number variable and auxiliary variable, total state variable and total number variable all initialize to zero, auxiliary variable initializes to 2, the device includes: The system comprises a trigger judging unit, a trigger judging unit and a control unit, wherein the trigger judging unit is used for judging whether each unmanned aerial vehicle in the unmanned aerial vehicle cluster system accords with a message sending condition or not based on a preset state non-zero constraint and a topology memory constraint, wherein the state non-zero constraint is used for allowing a consistency update message to be sent to an outgoing neighbor when at least one sub-state value of the unmanned aerial vehicle is not zero, and the topology memory constraint is used for prohibiting the consistency update message to be sent to the outgoing neighbor when the sum value of all sub-states of the unmanned aerial vehicle at the last moment is zero and the unique incoming neighbor at the last moment is the outgoing neighbor determined at the current moment; The message sending unit is used for randomly selecting part of non-zero sub-state values from local sub-state values of the unmanned aerial vehicle when the unmanned aerial vehicle meets the message sending condition, generating a consistency update message based on the selected non-zero sub-state values and the auxiliary variable values and sending the consistency update message to an outgoing neighbor of the unmanned aerial vehicle, and setting the selected non-zero sub-state values and the auxiliary variable values of the unmanned aerial vehicle to zero; And the message receiving unit is used for updating a local total state variable value, a total number variable value and an auxiliary variable value based on a non-zero sub-state value and the auxiliary variable value carried by the consistency update message when each unmanned aerial vehicle in the unmanned aerial vehicle cluster system receives the consistency update message, determining whether the unmanned aerial vehicle cluster agrees with the state quantity of the target object or not according to the updated total state variable value and total number variable value, and determining an consensus value of the state quantity based on the total state variable value and the total number variable value under the condition of agreeing.
10. An electronic device, comprising: A processor; A computer readable storage medium having stored therein computer program instructions which, when executed by the processor, cause the processor to perform the method of any of claims 1 to 8.

Description

Consistency control method and device for unmanned aerial vehicle cluster system Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a consistency control method and device of an unmanned aerial vehicle cluster system. Background Along with the rapid development of unmanned aerial vehicle technology, wireless communication technology and intelligent control theory, unmanned aerial vehicle cluster system composed of a plurality of unmanned aerial vehicles is widely applied to the fields of environmental monitoring, target searching and tracking, disaster relief, military reconnaissance, collaborative transportation and the like due to the advantages of flexible deployment, strong robustness, high task execution efficiency and the like. Unmanned aerial vehicle clusters generally run in a distributed mode, and each unmanned aerial vehicle performs local information interaction with adjacent unmanned aerial vehicles to realize collaborative decision and consistency control, so that dependence on a centralized controller is avoided, and the expandability and fault tolerance of the system are improved. In the unmanned aerial vehicle cluster cooperative control process, the consistency control problem is one of key basic problems for achieving formation maintenance, state synchronization and cooperative task execution. Conventional consistency control methods generally require that the unmanned aerial vehicle periodically exchange state information in continuous time or discrete time to ensure gradual convergence of the cluster states. However, in practical application, the unmanned aerial vehicle cluster is often limited by factors such as wireless communication bandwidth, energy consumption and communication interference, frequent information interaction can obviously increase communication burden and energy consumption, reduce overall operation efficiency of the system, and even influence stability and task completion capability of the cluster. In addition, in the unmanned aerial vehicle cluster system, the status information of each unmanned aerial vehicle generally includes sensitive data such as position, speed, attitude, track, or control parameters. In an open wireless communication environment, the state information is easy to be eavesdropped, inferred or maliciously attacked in the transmission process, which may lead to privacy disclosure, increased security risk and even cause cluster cooperative failure. Therefore, how to reduce the communication frequency and reduce the direct exposure of the status information while ensuring the consistency control performance has become an important problem to be solved in the unmanned aerial vehicle cluster system. In order to alleviate the above communication and privacy problems, event-triggered control mechanisms are gradually introduced into the field of unmanned aerial vehicle cluster consistency control. Unlike traditional periodic sampling control strategy, the event trigger mechanism only performs information interaction when the system state meets specific trigger conditions, so that the communication times and energy consumption are effectively reduced on the premise of ensuring the system stability and control performance. The distributed consistency control method based on event triggering has obvious advantages in the aspects of reducing communication overhead, improving system operation efficiency and the like. The related event triggering consistency control method can be classified according to design characteristics, such as whether global topology information is relied on, whether a triggering threshold is fixed or adaptive, a detection mode of triggering conditions and the like. The fully distributed event triggering mechanism requires each unmanned aerial vehicle to trigger and judge only by depending on the local information of the state and the neighbor of the unmanned aerial vehicle, does not depend on any global network parameter, and is more suitable for large-scale unmanned aerial vehicle clusters and practical application scenes with limited resources. However, the following disadvantages are still common in the practical application of the related art: first, status validity identification is insufficient. The related scheme usually takes a state error or a threshold function as a triggering basis, ignores the validity judgment of the system state, and can trigger communication when the state change is extremely small or even invalid, thereby causing redundant information transmission. Second, neighbor selection policies lack historical information utilization. Most schemes adopt a static or random neighbor selection strategy after communication triggering, do not introduce neighbor history interaction information or a topology memory mechanism, and easily repeatedly select the same neighbor in a multi-step iteration process, so that the communication path is low in efficiency, and