多无人机协同探测快速目标的控制方法设计

doi:10.12305/j.issn.1001-506X.2021.11.30

摘要/Abstract

摘要：

针对无人机(unmannd aerial vehicle, UAV)对快速运动目标的协同探测问题, 设计了一种多UAV协同探测控制算法。首先假设每架UAV都携带相同的探测载荷, 根据载荷特性设计了针对快速运动目标的UAV协同探测队形。然后引入固定时间控制一致性协议到UAV载荷角度控制中, 控制载荷持续照射目标; 引入有限时间一致性协议到UAV编队控制中, 用以形成协同探测队形, 并通过二跳网络加快队形的收敛。通过将UAV队形控制与UAV载荷的角度控制相结合, 从而实现UAV对快速运动目标探测时间的最大化, 极大的延长了高速运动目标被发现的时间。最终通过理论分析和仿真实验证明了该控制算法的有效性。

关键词: 固定时间一致性协议, 有限时间一致性协议, 协同探测, 无人机编队

Abstract:

Aiming at the problem of unmannd aerial vehicle (UAV) cooperative detection of fast moving target, a multi-UAV cooperative detection control algorithm is designed. Firstly, assuming that each UAV carries the same detection load, and a cooperative detection formation for fast moving targets was designed according to the load characteristics. Then, fixed-time control consistency protocol is introduced into the UAV load angle control to control the load to irradiate the target continuously; finite-time consistency protocol is introduced into the UAV formation control to form the cooperative detection formation and speed up the convergence of the formation through two-hop network. Through the combination of UAV formation control and UAV load angle control, the detection time of fast moving target is maximized, and the detection time of high-speed moving target is greatly prolonged. Finally, the effectiveness of the control algorithm is proved by the mathematical analysis and the simulation experiment.

Key words: fixed-time consensus protocol, finite-time consensus protocol, cooperative detection, unmannd aerial vehicle (UAV) formation

中图分类号:

V249
V279

符小卫, 陈子浩. 多无人机协同探测快速目标的控制方法设计[J]. 系统工程与电子技术, 2021, 43(11): 3295-3304.

Xiaowei FU, Zihao CHEN. Design of control method for multi-UAV cooperative detection of fast target[J]. Systems Engineering and Electronics, 2021, 43(11): 3295-3304.

图/表 8

图1

图2

表1

表2

图3

表3

图4

图5

参考文献 30

1	朱建军, 李冰, 张亚超. 群机器人目标围捕系统设计与性能测试[J]. 实验室研究与探索, 2020, 39 (3): 67- 71.
	ZHU J J , LI B , ZHANG Y C . Design and performance test of target capture system for swarm robots[J]. Research and Exploration in Laboratory, 2020, 39 (3): 67- 71.
2	YU J , DONG X W , LI Q L , et al. Distributed cooperative encircl-ement hunting guidance for multiple flight vehicles system[J]. Aerospace Science and Technology, 2019, 95 (11): 105475.
3	SAHA S . A prey-predator system with disease in prey and coope-rative hunting strategy in predator[J]. Journal of Physics A: Mathematical and Theoretical, 2020, 53 (48): 485601. doi: 10.1088/1751-8121/abbc7b
4	BI F K , LEI M Y , WANG Y P . Context-aware MDNet for target tracking in UAV remote sensing videos[J]. International Journal of Remote Sensing, 2020, 41 (10): 3784- 3797. doi: 10.1080/01431161.2019.1708500
5	QIU H F , YANG F W . Distributed H_∞-consensus filtering for target state tracking over a wireless filter network with switching topology, channel fading and packet dropouts[J]. Neurocompu-ting, 2020, 400 (19): 401- 411.
6	SHAN G L , XU G G , QIAO C L . A non-myopic scheduling method of radar sensors for maneuvering target tracking and radiation control[J]. Defence Technology, 2020, 16 (1): 242- 250. doi: 10.1016/j.dt.2019.10.001
7	GU K , WANG Y , SHEN Y L . Cooperative detection by multia-gent networks in the presence of position uncertainty[J]. IEEE Trans.on Signal Processing, 2020, 68 (1): 5411- 5426.
8	MATZLIACH B , BEN-GAL I , KAGAN E . Cooperative detection of multiple targets by the group of mobile agents[J]. Entropy, 2020, 22 (5): 512- 530. doi: 10.3390/e22050512
9	LI Z X , MENG C , ZHOU F G , et al. Fast vision-based autonomous detection of moving cooperative target for unmanned aerial vehicle landing[J]. Journal of Field Robotics, 2019, 36 (1): 34- 48. doi: 10.1002/rob.21815
10	CARDONA , GUSTAVO A , CALDERON , et al. Robot swarm navigation and victim detection using rendezvous consensus in search and rescue operations[J]. Applied Sciences, 2019, 9 (8): 1702- 1720. doi: 10.3390/app9081702
11	DUAN H B , XIN L , CHEN S J . Robust cooperative target detection for a vision-based UAVs autonomous aerial refueling platform via the contrast sensitivity mechanism of eagle's eye[J]. IEEE Aero-space and Electronic Systems Magazine, 2019, 34 (3): 18- 30. doi: 10.1109/MAES.2019.2900178
12	吴蔚, 朱晶, 许莺, 等. 无人机编队协同探测目标跟踪算法[J]. 指挥信息系统与技术, 2016, 7 (5): 62- 66.
	WU W , ZHU J , XU Y , et al. Target tracking algorithm for cooperative detection of UAV formation[J]. Command Information System and Technology, 2016, 7 (5): 62- 66.
13	杨洋, 徐珞, 艾中良. 基于多Agent的无人机群区域探测协同作战仿真[J]. 信息技术, 2017, (12): 161- 167.
	YANG Y , XU L , AI Z L . Multi-agent-based simulation of area detection and cooperative combat for unmanned aerial vehicles[J]. Information Technology, 2017, (12): 161- 167.
14	符小卫, 冯慧成, 高晓光. 通信距离约束下双无人机目标跟踪算法[J]. 系统工程与电子技术, 2013, 35 (8): 1663- 1668.
	FU X W , FENG H C , GAO X G . UAVs cooperative target tracking under communication range constraints[J]. Systems Engineering and Electronics, 2013, 35 (8): 1663- 1668.
15	杜永军, 金勇俊, 李汉, 等. 无人机编队协同探测研究[J]. 计算机测量与控制, 2008, 16 (12): 1954- 1956.
	DU Y J , JIN Y J , LI H , et al. Research on cooperative detection of UAV formation[J]. Computer Measurement & Control, 2008, 16 (12): 1954- 1956.
16	CHEN X , CHEN X M , WEI X M , et al. Multi-UAV distributed cooperative detection based on consensus[J]. International Journal of Control & Automation, 2014, 7 (12): 231- 238.
17	BAO L , WANG C Y , LI H B , et al. Influence of double stealth aircraft approach forward support cooperative jamming on radar detection performance[J]. Journal of Physics: Conference Series, 2019, 1187 (3): 90- 98. doi: 10.1088/1742-6596/1187/3/032090/pdf
18	CAO Y , WEI W Y , BAI Y , et al. Multi-base multi-UAV coope-rative reconnaissance path planning with genetic algorithm[J]. Cluster Computing, 2019, 22 (S3): 5175- 5184. doi: 10.1007/s10586-017-1132-9
19	ZHAO Y Y , WANG X K , WANG C , et al. Systemic design of distributed multi-UAV cooperative decision-making for multi-target tracking[J]. Autonomous Agents and Multi-Agent Systems, 2019, 33 (2): 132- 158.
20	HAO L , QI X H , YANG Z H . Topology optimised fixed-time consensus for multi-UAV system in a multipath fading channel[J]. IET Communications, 2020, 14 (11): 1730- 1738. doi: 10.1049/iet-com.2019.0699
21	LONG C , YANG C X , HAN G S , et al. Leader-following bounded consensus and multi-consensus of multiagent systems[J]. Complexity, 2020, 2020 (3): 8814455.
22	OLFATI-SABER R , MURRAY R M . Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Trans.on Automatic Control, 2004, 49 (9): 1520- 1533. doi: 10.1109/TAC.2004.834113
23	HARDY G H , LITTLEWOOD J E . Inequalities[M]. London: University Press, 1952.
24	POLYAKOV A . Nonlinear feedback design for fixed-time stabilization of Linear Control Systems[J]. IEEE Trans.on Automatic Control, 2012, 57 (8): 2106- 2110.
25	LI R, SHI Y J, LI R R. Finite-time formation control for second-order multi-agent systems[C]//Proc. of the 33rd Chinese Control Conference, 2014: 1761-1766.
26	BHAT S P , BERNSTEIN D S . Finite-time stability of conti-nuous autonomous systems[J]. SIAM Journal on Control and Optimization, 2000, 38 (3): 751- 766.
27	LIONEL R . Homogeneous lyapunov function for homogeneous continuous vector field[J]. Systems & Control Letters, 1992, 19 (6): 467- 473.
28	BHAT S P , BERNSTEIN D S . Geometric homogeneity with applications to finite-time stability[J]. Mathematics of Control Signals & Systems, 2005, 17 (2): 101- 127.
29	ZHENG Y S , CHEN W S , WANG L . Finite-time consensus for stochastic multi-agent systems[J]. International Journal of Control, 2011, 84 (10): 1644- 1652.
30	KHALIL H K . Nonlinear systems[M]. 3rd edition State of New Jersey: Prentice hall, 2002.

参数名或符号	数值
a	1
b	0.5
c	5
s	0.1
t	13

参数名或符号	数值
a₁	0.6
a₂	0.75
v_d/(m/s)	(20, 0)

无人机编号	无人机初始状态
无人机编号	初始位置/m	初始速度(m/s)	载荷初始角度/rad
1	(-160, -0.15)	(0, -15)	-3.14
2	(-155, -8.81)	(0, -15)	-2.09
3	(-145, -8.81)	(0, -15)	-1.05
4	(-140, -0.15)	(0, -15)	0
5	(-145, -8.51)	(0, -15)	1.05
6	(-155, 8.51)	(0, -15)	2.09

[1]	孙田野, 孙伟, 吴建军. 改进Quatre算法的无人机编队快速集结方法[J]. 系统工程与电子技术, 2022, 44(9): 2840-2848.
[2]	杨兴家, 段克清, 李想, 祁炜. 无人机集群协同探测距离解模糊方法[J]. 系统工程与电子技术, 2022, 44(2): 480-489.
[3]	符小卫, 陈子浩. 基于一致性协议的多无人机协同围捕控制方法[J]. 系统工程与电子技术, 2021, 43(9): 2501-2507.
[4]	权婉珍, 罗哲, 杨小冈, 韩心中, 席建祥. 间歇通信条件下多无人机保性能编队追踪控制[J]. 系统工程与电子技术, 2021, 43(11): 3288-3294.
[5]	吴立尧, 韩维, 张勇, 熊瑶. 有人/无人机编队指挥控制系统结构设计[J]. 系统工程与电子技术, 2020, 42(8): 1826-1834.
[6]	吴立尧, 韩维, 张勇, 熊瑶. 基于人机合作的有人/无人机编队队形变换策略[J]. 系统工程与电子技术, 2020, 42(2): 434-444.
[7]	毛琼, 李小民, 王正军. 基于规则的无人机编队队形构建与重构控制方法[J]. 系统工程与电子技术, 2019, 41(5): 1118-1126.
[8]	欧阳成, 徐敏, 顾杰. 基于探测区域搜索的TOA量测数据关联[J]. 系统工程与电子技术, 2019, 41(12): 2697-2702.
[9]	林君灿, 贾高伟, 侯中喜. 异构UAV编队反雷达作战中任务分配方法[J]. 系统工程与电子技术, 2018, 40(9): 1986-1992.
[10]	祁炜, 李侠, 蔡万勇, 金加根. 多预警机协同探测能力及航线规划[J]. 系统工程与电子技术, 2016, 38(12): 2764-2768.
[11]	李响, 邢清华, 董涛. 基于多指标正交实验设计的UAV编队配系优化[J]. Journal of Systems Engineering and Electronics, 2013, 35(2): 331-337.
[12]	高晓光，万开方，李　波，刘学全. 基于云协同的网络集群反隐身火控系统设计[J]. 系统工程与电子技术, 2013, 35(11): 2320-2328.
[13]	刘跃峰，张安. 有人机/无人机编队协同任务分配方法[J]. Journal of Systems Engineering and Electronics, 2010, 32(3): 584-587.