The invention discloses a dynamic consensus execution method operating on multiple unmanned aerial vehicles, which ensures that an unmanned aerial vehicle cluster always has one leader node by using a Raft-based leader election process, ensures the fault tolerance of the unmanned aerial vehicle cluster, and ensures the consistency of the unmanned aerial vehicle cluster by using a Paxos algorithm-based consensus process. The communication traffic of the consensus process is in direct proportion to the number of cluster nodes, the balance of performance and stability is achieved, the communication content between the unmanned aerial vehicles is prevented from being stolen based on AES encryption transmission, the communication safety between the unmanned aerial vehicles is ensured, the unmanned aerial vehicles can actively propose decision opinions through the truth value discovery function, and the communication efficiency is improved. A more reasonable and comprehensive decision is made after the opinions of multiple parties are integrated, the scientificity and effectiveness of task execution are improved, the AI tracking function is based on the two AI models of Yolo and SiamRPN, accurate and real-time tracking of the target is achieved, and the unmanned aerial vehicle cluster can execute more complex tasks.

    本发明公开了一种运行在多台无人机上的动态共识执行方法,本发明利用基于Raft的leader选举流程,保证了无人机集群始终拥有一个leader节点,保证了无人机集群的容错性,利用基于Paxos算法的共识流程,保障了无人机集群的一致性;并且实现共识流程的通信量和集群节点数量成正比,取得了性能和稳定性的平衡,基于AES的加密传输避免了无人机之间的通讯内容被窃取,保证了无人机之间通讯的安全性,真值发现功能使各个无人机能够主动提出决策意见,综合多方意见后做出更合理、全面的决策,提升了任务执行的科学性和有效性,AI追踪功能基于Yolo和SiamRPN两个AI模型,实现了对目标的精准和实时追踪,使无人机集群可以执行更复杂的任务。


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    Title :

    Dynamic consensus execution method operating on multiple unmanned aerial vehicles


    Additional title:

    一种运行在多台无人机上的动态共识执行方法


    Contributors:
    LIU JIAN (author) / HOU ZHENGWEI (author) / LU HAO (author) / TU TIANYU (author) / REN KUI (author)

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr



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