用于多无人机广域目标搜索的扩展搜索图方法

Journal of Systems Engineering and Electronics ›› 2010, Vol. 32 ›› Issue (4): 795-798.

用于多无人机广域目标搜索的扩展搜索图方法

彭辉^1,2，苏菲²，沈林成²

（1. 解放军理工大学指挥自动化学院，江苏南京 210007;2. 国防科学技术大学机电工程与自动化学院, 湖南长沙 410073）

出版日期:2010-04-23 发布日期:2010-01-03

Extended search map approach for multiple UAVs wide area target searching

PENG Hui^1,2, SU Fei², SHEN Lin-heng²

(1. Inst. of Command Automation, PLA Univ. of Science and Technology, Nanjing 210007, China;
2. School of Mechanical Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)

Online:2010-04-23 Published:2010-01-03

摘要/Abstract

摘要：

多无人机(unmanned aerial vehicle, UAV)广域目标搜索是协同控制的重要研究内容。针对传统搜索图在多平台协调控制上的不足，提出了基于数字荷尔蒙机制的扩展搜索图方法。将荷尔蒙的扩散传播机制引入到搜索图的更新中，建立了基于数字荷尔蒙和目标确定度的混合信息结构，在此基础上，研究了基于滚动优化策略的实时路径规划方法。仿真结果表明,扩展搜索图比传统搜索图具有更好的多平台协调能力，是一种有效的多UAV广域目标搜索方法。

Abstract:

Multiple unmanned aerial vehicles (UAVs) wide area target searching is an important research area of cooperative control. To improve the coordinated ability of common search maps, an extended search map (ESM) approach based on digital hormone mechanism is proposed. Leading the hormone diffusion mechanism into renewal of search maps, this method builds a mixed information structure of digital hormone and target certainty. By using ESM, a receding horizon policy based real-time path planning method is presented. Simulation results demonstrate that the ESM provides better coordination ability than the common search map, and it is an effective approach for multiple UAVs wide area target searching.

彭辉，苏菲，沈林成. 用于多无人机广域目标搜索的扩展搜索图方法[J]. Journal of Systems Engineering and Electronics, 2010, 32(4): 795-798.

PENG Hui, SU Fei, SHEN Lin-cheng. Extended search map approach for multiple UAVs wide area target searching[J]. Journal of Systems Engineering and Electronics, 2010, 32(4): 795-798.