考虑韧性的无人机集群自组织区域覆盖方法

doi:10.12305/j.issn.1001-506X.2024.03.20

摘要/Abstract

摘要：

为提高无人机集群执行自组织区域覆盖任务成功率, 提出一种基于个体相互作用力、边界排斥力、重点区域吸引力3种虚拟力的分布式自组织覆盖算法。在此基础上, 进一步考虑无人机个体自身故障或毁伤等失效的影响, 将集群韧性指标纳入到覆盖关键阈值调节机制中。仿真实验结果表明, 该方法能有效使无人机集群对目标区域及重点区域进行覆盖, 且能在集群发生故障或遭受毁伤后迅速进行自组织恢复, 获得较高的任务成功率。

关键词: 韧性, 虚拟力, 分布式算法, 自组织, 无人机集群, 区域覆盖

Abstract:

To improve the success rate of unmanned aerospace vehicle (UAV) swarm performing coverage task, a distributed self-organizing coverage method is proposed. This method is based on three virtual forces, namely individual UAV interaction force, boundary repulsive force, and attraction of key areas. Then, the influence of failure of UAVs is taken into account. A resilience index is incorporated into the coverage threshold adjustment mechanism. Simulation experiments show that the proposed method can provide a more sufficient coverage of the target area and key areas. After the swarm failed or damaged, the proposed method is able to recover quickly in a self-adaptive manner, and achieve a higher mission success rate.

Key words: resilience, virtual force, distributed algorithm, self-organizing, unmanned aerial vehicle (UAV) swarm, region coverage

中图分类号:

N945

刘涛, 王沙沙, 张驰, 白光晗, 陶俊勇. 考虑韧性的无人机集群自组织区域覆盖方法[J]. 系统工程与电子技术, 2024, 46(3): 942-952.

Tao LIU, Shasha WANG, Chi ZHANG, Guanghan BAI, Junyong TAO. Resilience based self-organizing region coverage method for unmanned aerial vehicle swarm[J]. Systems Engineering and Electronics, 2024, 46(3): 942-952.

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权重符号	取值
ω_u	$ \sqrt 2 $D_d⁴
ω_b	(D_c+0.5D_d)³
ω_d	$ \sqrt 2 $(D_c+0.5D_d)D_d²

集群数量	最优性能PQ(t)	任务需求${\bar Q}$(t)	毁伤规模
20	1	0.6	5
30	1	0.8	5
40	1	0.9	5
50	1	0.95	5

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