系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (12): 3783-3791.doi: 10.12305/j.issn.1001-506X.2022.12.23

• 制导、导航与控制 • 上一篇    

局部通信条件下多无人机协同搜索方法

朱晓敏, 刘大千*, 费博雯, 门通   

  1. 国防科技大学系统工程学院, 湖南 长沙 410073
  • 收稿日期:2021-05-18 出版日期:2022-11-14 发布日期:2022-11-24
  • 通讯作者: 刘大千
  • 作者简介:朱晓敏 (1979—), 男, 教授, 博士, 主要研究方向为分布式协同与群体智能|刘大千 (1992—), 男, 博士后, 主要研究方向为智能无人系统、目标检测和跟踪|费博雯 (1991—), 女, 博士后, 主要研究方向为分布式资源组织与优化、数据挖掘|门通 (1996—), 男, 硕士研究生, 主要研究方向为多无人机协同搜索与视觉跟踪
  • 基金资助:
    国家自然科学基金(61872378);中国博士后科学基金(2020M673698)

Cooperative search method for multiple UAVs under local communication

Xiaomin ZHU, Daqian LIU*, Bowen FEI, Tong MEN   

  1. College of Systems Engineering, National University of Defense Technology, Changsha 410073, China
  • Received:2021-05-18 Online:2022-11-14 Published:2022-11-24
  • Contact: Daqian LIU

摘要:

针对复杂场景中障碍物、电磁干扰等因素造成的无人机(unmanned aerial vehicle, UAV)编队部分通信链路不可达问题, 提出局部通信条件下的协同搜索(cooperative search under local communication, CSLC)方法。首先, 根据各UAV的实时位置计算当前时刻编队通信拓扑关系, 建立UAV编队的局部互通网络。在此基础上, 综合考虑UAV通信能力和编队协同目标搜索能力, 构建基于通信链路稳定收益和协同编队收益的协同搜索模型。最后, 设定多UAV编队所需的安全距离和最大运动速率的约束条件, 保证模型能够得到最优路径可行解, 提高多UAV协同搜索效率。实验结果表明, 与现有的目标搜索方法相比, CSLC方法在保证协同搜索路径可行性的同时, 提升了多UAV协同搜索的能力。

关键词: 局部通信, 通信拓扑关系, 目标搜索, 协同编队

Abstract:

Aiming at the problem of inaccessible local communication link for unmanned aerial vehicle (UAV) formation caused by obstacles and electromagnetic interference in complex scenes, a cooperative search under local communication (CSLC) method is proposed. Firstly, according to the real-time location of each UAV, the communication topology relation at the current time is calculated, thereby establishing a local intercommunication network of UAV formation. On this basis, considering the UAV communication capability and the formation cooperative target search capability, the cooperative search model based on the communication link stability benefit and the cooperative formation revenue is constructed. Finally, the constraints of the safety distance and maximum movement speed required for UAV formation are set to ensure that the model can obtain the feasible solution of the optimal path and improve the efficiency of multi-UAV cooperative search. The experimental results show that, compared with the existing target search methods, the CSLC method not only ensures the feasibility of cooperative path search, but also enhances the capability of multi-UAV cooperative search.

Key words: local communication, communication topological relation, target search, cooperative formation

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