通信距离受限条件下的无人机集群协同区域搜索

doi:10.12305/j.issn.1001-506X.2022.05.23

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (5): 1615-1625.doi: 10.12305/j.issn.1001-506X.2022.05.23

通信距离受限条件下的无人机集群协同区域搜索

王宁^1,², 李哲^1,^2,*, 梁晓龙^1,², 王玉冰³, 侯岳奇^1,²

1. 空军工程大学空管领航学院, 陕西西安 710051
2. 陕西省电子信息系统综合集成重点实验室, 陕西西安 710051
3. 中国人民解放军95899部队, 北京 100089

收稿日期:2021-01-28 出版日期:2022-05-01 发布日期:2022-05-16
通讯作者: 李哲
作者简介:王宁(1997—), 男, 博士研究生, 主要研究方向为无人机集群协同搜索|李哲(1981—), 男, 副教授, 硕士研究生导师, 硕士，主要研究方向为无人机集群、航空数据链|梁晓龙(1981—), 男, 教授, 博士研究生导师, 博士，主要研究方向为航空集群指挥与控制、智能系统、空管智能化|王玉冰(1994—), 女, 工程师，博士, 主要研究方向为为航空集群智能决策|侯岳奇(1995—), 男, 博士研究生, 主要研究方向为航空集群智能决策
基金资助:
国家自然科学基金(61703427);国防创新特区项目;“十三五”装备预研共用技术项目资助课题

Cooperative region search of UAV swarm with limited communication distance

Ning WANG^1,², Zhe LI^1,^2,*, Xiaolong LIANG^1,², Yubing WANG³, Yueqi HOU^1,²

1. Air Traffic Control and Navigation College, Air Force Engineering University, Xi'an 710051, China
2. Shaanxi Province Laboratory of Meta-Synthesis for Electronic & Information System, Xi'an 710051, China
3. Unit 95899 of the PLA, Beijing 100089, China

Received:2021-01-28 Online:2022-05-01 Published:2022-05-16
Contact: Zhe LI

摘要/Abstract

摘要：

针对通信距离受限条件下的无人机(unmanned aerial vehicle, UAV)集群协同搜索任务, 考虑防相撞约束, 定制了一种能够在搜索过程中根据机间距离切换交互方法的UAV交互决策机制, 实现了动态环境中的搜索航迹规划。首先, 运用栅格化方法建立包含3种属性的环境认知地图对任务区域进行表征。其次, 考虑多种搜索任务需求, 以最大化搜索效率为目标建立UAV集群协同搜索模型。然后, 根据机间有效通信距离定义了UAV协同搜索过程中的通信状态, 设计了一种能够在通信完全有效、局部有效以及完全失效3种典型场景下切换信息交互方法的信息交互与决策机制。最后, 采用滚动时域优化方法, 实现集群各成员的自主决策与交互行为。仿真结果表明, 所提算法能够在通信距离受限条件下有效完成协同搜索任务, 在完成覆盖搜索任务时能够有效兼顾对动目标的搜索。

关键词: 信息交互, 协同搜索规划, 目标概率图, 虚警概率

Abstract:

For the cooperative search task of unmanned aerial vehicle(UAV) cluster under the condition of limited communication distance, considering the anti-collision constraint, a UAV interactive decision-making mechanism which can switch the interactive method according to the distance between UAVs in the search process is customized, and the search track planning in the dynamic environment is realized. Firstly, the grid method is used to establish an environmental cognitive map containing three attributes to represent the task area. Secondly, considering the requirements of multiple search tasks, a cooperative search model of UAV cluster is established to maximize the search efficiency. Then, according to the effective communication distance between UAVs, the communication state in the process of UAV cooperative search is defined, and an information interaction and decision-making mechanism is designed, which can switch information interaction methods in three typical scenarios: fully effective, partially effective and completely ineffective communication. Finally, the rolling time domain optimization method is used to realize the autonomous decision-making and interactive behavior of cluster members. Simulation results show that the proposed algorithm can effectively complete the cooperative search task under the condition of limited communication distance, and can effectively take into account the search of moving targets when completing the coverage search task.

Key words: information interaction, cooperative search planning, target probability map, false alarm probability

中图分类号:

王宁, 李哲, 梁晓龙, 王玉冰, 侯岳奇. 通信距离受限条件下的无人机集群协同区域搜索[J]. 系统工程与电子技术, 2022, 44(5): 1615-1625.

Ning WANG, Zhe LI, Xiaolong LIANG, Yubing WANG, Yueqi HOU. Cooperative region search of UAV swarm with limited communication distance[J]. Systems Engineering and Electronics, 2022, 44(5): 1615-1625.

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UAV序号	初始坐标km	初始方向	固定飞行速度/(m/s)	最大转弯角/(°)
1	(0, 0)	0	20	45
2	(4, 0)	0	20	45
3	(8, 0)	0	20	45
4	(12, 0)	0	20	45

参数	P_D	P_F	δ_p	探测范围/km
取值	0.9	0.05	0.8	1×1

参数	μ	c_n	v_n	E_A	P_A	λ	d_A
取值	0.2	0.015	30	0.8	0.2	0.55	8

参数	ω₁	ω₂	ω₃	ω₄
取值	0.3	0.3	0.3	0.1

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通信距离受限条件下的无人机集群协同区域搜索

Cooperative region search of UAV swarm with limited communication distance

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