基于编队控制的自适应HELLO更新算法

黄绍城; 马林华; 茹乐; 蔡钊; 张嵩; 胡星

doi:10.13700/j.bh.1001-5965.2015.0645

基于编队控制的自适应HELLO更新算法

doi: 10.13700/j.bh.1001-5965.2015.0645

空军工程大学航空航天工程学院, 西安 710038

基金项目: 国家自然科学基金 (61472442) ; 航空科学基金 (20130596008，20145596025) ; 综合业务网理论及关键技术国家重点实验室研究课题 (ISNI15-13)

详细信息

通讯作者:
马林华

中图分类号: TP393. 04
计量
- 文章访问数: 520
- HTML全文浏览量: 20
- PDF下载量: 643
- 被引次数: 0
出版历程
- 收稿日期: 2015-10-08
- 网络出版日期: 2016-10-20

Formation control-based adaptive update algorithm of HELLO message

School of Aeronautics and Astronautics Engineering, Air Force Engineering University, Xi'an 710038, China

摘要

摘要: 在无人机(UAVs)编队自组织网络中,针对无人机之间位置信息更新周期不合理,从而导致编队控制不稳定和控制开销过大的问题,提出一种基于无人机编队控制的自适应HELLO更新算法。该算法应用编队控制稳定性理论推导出无人机组成期望编队的控制延时上限,结合该延时上限和编队运动状态自适应地设定HELLO更新周期。仿真结果表明,本文提出的算法与固定HELLO更新周期算法相比,既能保证在组编控制过程的稳定性,又能实时维护稳定阶段的链路,并且显著减少网络中不必要的控制开销。
- 无人机(UAVs)编队 /
- 控制开销 /
- 延时上限 /
- 自适应 /
- HELLO
Abstract: In the unmanned aerial vehicles (UAVs) formation ad hoc network, in order to solve the instability of formation control problem and reduce the large control overhead, both of which are caused by unreasonable update cycle of the position information, a formation control-based adaptive update algorithm of HELLO message is proposed. The algorithm employs the maximum tolerable delay which is deduced by the formation control stability theory for formation control, and combines with the formation stability theory to set an adaptive HELLO update cycle. The simulation results demonstrate that, compared with the fixed HELLO update algorithm, the proposed algorithm not only ensures the stability in the formation forming stage, but also maintains the link availability in the formation stability stage and effectively reduces the unnecessary control overhead.
- unmanned aerial vehicles ( UAVs) formation /
- control overhead /
- maximum tolerable delay /
- adaptive /
- HELLO

HTML全文

参考文献(15)

[1]	WANG A,ZHU B.Improving MPR selection algorithm in OLSR protocol based on node localization[J].Journal of Intelligent & Robotic Systems,2014,9(7):1674-1681.
[2]	PALANIAMMAL M,LALLI M.Comparative study of routing protocols for MANETs[J].International Journal of Networked and Distributed Computing,2014,2(2):118-127.
[3]	ERNST R,JOPEN S A,BARTELT T.Reducing MANET neighborhood discovery overhead[C]//IEEE 39 th Conference on Local Computer Networks.Piscataway,NJ:IEEE Press,2014:374-377.
[4]	HAN S Y,LEE D.An adaptive hello messaging scheme for neighbor discovery in on-demand MANET routing protocols[J].IEEE Communications Letters,2013,17(5):1040-1043.
[5]	ERNST R,MARTINI P.Adaptive HELLO for the neighborhood discovery protocol[C]//IEEE 37th Conference on Local Computer Networks.Piscataway,NJ:IEEE Press,2012:470-478.
[6]	HIYAMA M,KULLA E,IKEDA M,et al. Investigation of OLSR behavior for different HELLO packets intervals in a MANET testbed[C]//IEEE 27th International Conference on Advanced Information Networking and Applications.Piscataway,NJ:IEEE Press,2013:183-188.
[7]	BENZAID M,MINET P,ALAGHA K.Analysis and simulation of fast-OLSR[C]//57th IEEE Semiannual Vehicular Technology Conference.Piscataway,NJ:IEEE Press,2003,3:1788-1792.
[8]	LARSEN E,J FATHAGEN,Y PHAM,L Landmark.iOLSR:OLSR for WSNs using dynamically adaptive intervals[C]//Proceedings of the 5th International Conference on Sensor Technologies and Application.Trondheim:IFSA Press,2011:21-27.
[9]	张衡阳,郑博,陈校平,等. 基于链路断开概率的自适应信标交换算法[J].计算机研究与发展,2013,50(3):472-480.ZHANG H Y,ZHENG B,CHEN X P,et al.An adaptive beacon exchang algorithm baced on link broken probability[J].Journal of Computer Research and Development,2013,50(3):472-480(in Chinese).
[10]	PENG Z,WEN G,RAHMANI A,et al.Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory[J].International Journal of Systems Science,2015,46(8):1447-1457.
[11]	DONG X,XI J,LU G,et al.Formation control for high-order linear time-invariant multiagent systems with time delays[J].IEEE Transactions on Control of Network Systems,2014,1(3):232-240.
[12]	DONG X,YU B,SHI Z,et al.Time-varying formation control for unmanned aerial vehicles:Theories and application[J].IEEE Transactions on Control of Network Systems,2015,23(1):340-348.
[13]	WANG N,ZHANG T W,XU J Q.Formation control for networked spacecraft in deep space:With or without communication delays and with switching topology[J].Science China Information Sciences,2011,54(3):469-481.
[14]	姜丽梅,张汝波.具有通信延时的多机器人编队控制[J].北京邮电大学学报,2012,35(2):54-58.JIANG L M,ZHANG R B.Multi-robot formation with communication delay[J].Journal of Beijing University of Posts and Telecommunications,2012,35(2):54-58(in Chinese).
[15]	高先明,张晓哲,王宝生,等.面向虚拟路由器的基于历史转发开销的资源调度算法[J].电子与信息学报,2015,37(3):686-692.GAO X M,ZHANG X Z,WANG B S,et al.Historical forwarding overhead based the resource scheduling algorithm for the virtual router[J].Journal of Electronics & Information Techonology,2015,37(3):686-692(in Chinese).