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

Abstract

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

CLC Number:

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

Cooperative region search of UAV swarm with limited communication distance

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