Research On Optimization Of Multi-UVA Formation System Based On Continuation Passing Style

The multi-UAV(Unmanned Aerial Vehicle)formation system plays an important role in some aspects of UAV,such as formation and re-formation,monitoring and early warning,mission design and demonstration.The types of the tasks performed by UAVs have gradually become diversified,the fields involved have become more extensive,and multi-UAV formation systems have become more complicated.However,those situations will give some challenges to the normal operation of the call stack and the post-maintenance of systems.Some existing multi-UAV formation systems generally lack an optimization method for the overflow problem of program call stack.In addition,the code coupling and post-maintenance of system programs are often ignored.When special circumstances occur,such as a large number of UAVs and complex flight paths,the call stack of multi-UAV formation system will store and accumulate various parameters and states during program execution,eventually causing the stack overflow problem and affecting the system operation.Asynchronous requests for remote services from various functional modules of the multi-UAV formation system is very common,multiple asynchronous requests which rely on each other will cause the callback pyramid problem.As a result,the coupling of internal programs in the system is enhanced,which seriously affects post-maintenance in the later stage.The main work of this paper is as follows.Firstly,in order to solve the problem of stack overflow,an optimization method of UAV formation recursive algorithm based on Continuation Passing Style(CPS)is proposed.The stack is not used in CPS technology.This article uses this feature to rewrite the recursive algorithm into the form of tail recursion.This allows information that was originally squeezed in the stack to be transferred to the heap,effectively alleviating the pressure on the system call stack.Secondly,in order to solve the problem of multiple asynchronous requests,a CPS conversion method based on program slicing is proposed.The method uses the program dependency graph as an auxiliary tool for CPS conversion.It performs CPS conversion on the system program according to the dependency relationship between control flow and data flow in the program dependency graph.The method not only effectively improves the correct rate of CPS conversion,but also improves code coupling and post-maintenance of the program.Thirdly,this paper designs a method for debugging system programs based on continuation.This method uses the continuation technology to implement program suspension and resume execution.At the same time,the internal code and call stack of the multi-UAV formation system program are presented.The experimental results show that,the recursive optimization algorithm based on CPS solves the problem of system program stack overflow effectively;The CPS optimization conversion method based on program slicing solves the callback pyramid problem effectively.At the same time,the method improves code coupling and post-maintenance of the system program.According to the research content of this paper,the CPS technology has played a great role in the optimization of multi-UAV formation system.