局部通信条件下多无人机协同搜索方法

doi:10.12305/j.issn.1001-506X.2022.12.23

Abstract

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

CLC Number:

TN959

Xiaomin ZHU, Daqian LIU, Bowen FEI, Tong MEN. Cooperative search method for multiple UAVs under local communication[J]. Systems Engineering and Electronics, 2022, 44(12): 3783-3791.

Figures/Tables 15

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指标参数	吸引信息素	排斥信息素
挥发系数	G_a=0.3	G_r=0.3
传播系数	E_a=0.4	E_r=0.4
释放常量	D_a=1	D_r=10

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	(2 250, 750)	(45, 15)	4
T₂	(2 250, 1 550)	(45, 31)	0
T₃	(2 250, 2 250)	(45, 45)	4
T₄	(2 250, 1 650)	(45, 33)	4
T₅	(1 650, 1 650)	(33, 33)	2
T₆	(850, 1 650)	(17, 33)	4
T₇	(850, 850)	(17, 17)	0
T₈	(1 650, 850)	(33, 17)	0
T₉	(2 250, 850)	(45, 17)	0

搜索方法	迭代周期/s	目标识别数/个	区域覆盖率/%
PMGA	100	1	36.59
	200	4	59.31
	300	5	73.14
DMPC	100	2	41.14
	200	4	59.90
	300	7	73.58
CSLC	100	3	47.06
	200	6	61.04
	300	9	80.20

搜索方法	迭代周期/s	目标识别数/个	区域覆盖率/%
r=10	100	2	40.26
	200	3	57.61
	300	6	72.36
r=20	100	3	47.06
	200	6	61.04
	300	9	80.20
r=30	100	4	46.33
	200	7	61.42
	300	9	80.48
r=40	100	4	46.12
	200	8	62.78
	300	9	79.35

Cooperative search method for multiple UAVs under local communication

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