未知城市环境下的多机协同目标搜索方法研究

doi:10.12305/j.issn.1001-506X.2023.12.19

Abstract

Abstract:

In the urban environment, the influence of factors such as buildings or inaccessible regions is easy to cause the failure of the multi-unmanned aerial vehicle (UAV) cooperative path planning strategy, which results in the failure of the target search task. To solve these issues above, a multi-UAV cooperative search (MUCS) method in the uncertain urban environment is proposed. Firstly, the urban environment is modeled, which includes the design of dense building clusters and targets with various motion states, so as to enhance the challenge of the target search task. Then on this basis, a cooperative optimization model based on information sharing cost and regional coverage benefit is constructed by comprehensively considering the flight constraint and the information interaction capability of UAV formation. Finally, according to the characteristics of the multi-UAV cooperative formation, the swarm intelligence method is used to solve the optimization problem, which ensures that each UAV can obtain the feasible solution of the optimal path and improve the efficiency of the multi-UAV cooperative target search. Compared with the existing search methods, the average target discovery success rate of MUCS method is increased by 20%, and the regional coverage rate is increased by 10%. The experimental results illustrate that MUCS has the strong capability of the target search and regional coverage.

Key words: unknown urban environment, multi-unmanned aerial vehicle (UAV) cooperation, target search, information sharing, regional coverage

CLC Number:

Daqian LIU, Weidong BAO, Bowen FEI, Xiaomin ZHU. Research on multi-UAV cooperative target search method under unknown urban environment[J]. Systems Engineering and Electronics, 2023, 45(12): 3896-3907.

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无人机	初始位置	网格索引	初始方向
U₁	(50, 750)	(1, 15)	4
U₂	(50, 1 500)	(1, 30)	0
U₃	(50, 2 250)	(1, 45)	4
U₄	(750, 50)	(15, 1)	6
U₅	(1 500, 50)	(30, 1)	6
U₆	(2 250, 50)	(45, 1)	2
U₇	(3 050, 50)	(61, 1)	0
U₈	(3 050, 750)	(61, 15)	4
U₉	(3 050, 1 500)	(61, 30)	0
U₁₀	(750, 3 050)	(15, 61)	6
U₁₁	(1 500, 3 050)	(30, 61)	4
U₁₂	(2 250, 3 050)	(45, 61)	4

目标	初始位置	网格索引	初始方向
T₁	(850, 850)	(17, 17)	0
T₂	(850, 1 650)	(17, 33)	4
T₃	(850, 2 250)	(17, 45)	2
T₄	(1 650, 850)	(33, 17)	0
T₅	(1 650, 1 650)	(33, 33)	2
T₆	(1 650, 2 250)	(33, 45)	4
T₇	(2 250, 850)	(45, 17)	0
T₈	(2 250, 1 650)	(45, 33)	2
T₉	(2 250, 2 250)	(45, 45)	4

指标参数	SSA
最大迭代次数	100
候选样本数量	10
样本维度	24
发现者数量	6
追随者数量	6
警戒者数量	3
位移量	[－2, 2]

发现目标位置	搜索方法
发现目标位置	MUCS	SSA	DMP
T₁	(17, 11)	(17, 11)	(17, 19)
T₂	(45, 17)	(37, 42)	-
T₃	(25, 28)	-	(21, 57)
T₄	(33, 38)	(33, 42)	(33, 10)
T₅	(35, 33)	(28, 41)	(33, 33)
T₆	(33, 36)	(37, 56)	(46, 57)
T₇	(45, 14)	(45, 15)	(45, 19)
T₈	(42, 41)	(51, 29)	-
T₉	(47, 41)	(41, 49)	(29, 49)

搜索方法	搜索周期/s	发现目标数量/个	区域覆盖率/%
MUCS	100	2	23.28
	200	6	42.57
	400	9	73.58
SSA	100	2	20.34
	200	6	41.53
	400	8	72.49
DPM	100	4	19.20
	200	6	39.36
	400	7	61.09

Research on multi-UAV cooperative target search method under unknown urban environment

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References 31

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无人机数量	搜索周期/s	发现目标数/个	区域覆盖率/%
N=4	100	0	8.49
	200	2	21.27
	400	4	49.84
N=8	100	1	14.54
	200	3	34.33
	400	8	67.31
N=12	100	2	23.28
	200	6	42.57
	400	9	73.58
N=16	100	5	35.45
	200	9	65.15
	400	9	78.93

探测半径	搜索周期/s	发现目标数量/个	区域覆盖率/%
r=1	50	0	10.76
	100	2	23.28
	200	6	42.57
r=2	50	6	11.02
	100	9	21.28
	200	9	37.28
r=3	50	8	10.34
	100	9	21.84
	200	9	35.54

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