摘要
基于通信与控制一体化的思路,对协同飞行无人机网络进行了研究,提出了领导-跟随协同控制设计和通信容量分析方法。该方法首先选取并控制一架领导者无人机引导整个网络飞行,在部分跟随者获取领导者状态信息的情况下可实现所有跟随者分布式交互及运动协同,其特点是过程简单及易于分析和应用;基于莱斯衰落信道分析了网络链路的通信容量,并推导了在协同飞行运动收敛过程中链路通信容量的下界。仿真实验结果表明,所提方法在领导-跟随协同网络中能够使编队运动按期望规律飞行,同时无人机间链路的通信容量存在不为零的下界,与理论分析一致。
Based on the idea of communication and control integration,the cooperative flying unmanned aerial vehicle networks is studied,and the design method of leader⁃follower cooperative control and the analysis method of communication capacity are proposed.The method firstly selects and controls a leader to guide the whole network flying,and all follows perform the motion collaboration via distributed interaction when merely some follows obtain the leader state information.The process is simple for analysis and application.The cooperative flying unmanned aerial vehicle network analyzes the communication capacity of network links based on Rice fading channel,derives a lower bound on the link communication capacity during the convergence process of cooperative flying motion.The simulation results show that the formation movements are controlled according to the leader⁃follower cooperative control law of the network,and there is a clear non⁃zero lower bound for the link communication capacity between unmanned aerial vehicles,which is consistent with the theoretical analysis.
作者
林德平
王亚祺
钱荣荣
彭涛
王文博
LIN Deping;WANG Yaqi;QIAN Rongrong;PENG Tao;WANG Wenbo(School of Information and Communication Engineering,Beijing University of Posts and Telecommunications,Beijing 100876,China;School of Artiflcial Intelligence,Beijing University of Posts and Telecommunications,Beijing 100876,China)
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2023年第3期97-102,共6页
Journal of Beijing University of Posts and Telecommunications
基金
国家重点研发计划项目(2020YFB1808000)
北京市自然科学基金项目(L192002,L202014)
国家自然科学基金项目(61971058)。
关键词
无人机网络
领导-跟随协同飞行
通信容量
unmanned aerial vehicle networks
leader⁃follower cooperative flying
communication capacity
