摘要
针对多无人机目标跟踪问题中存在的相位协同时间长和跟踪目标速度受限问题,基于图Laplacian方法提出一种分布式多机编队目标跟踪算法。首先,将无人机编队队形控制问题转换为基于旋转、缩放和平移的运动参数组设计问题,并通过设计编队控制律,实现动态编队队形的精准生成与变换。其次,将此编队队形控制方法应用到目标跟踪问题上,通过分析不同目标速度下的跟踪情况建立相应的跟踪模型,实现无人机编队对目标进行快速协同跟踪,并克服跟踪目标速度限制问题。最后,仿真结果验证了所提方法的有效性和优势。
Aiming at the problem of long phase coordination time and limited target speed in multiple unmanned aerial vehicles(UAVs)target tracking,this paper presents a distributed UAV formation target tracking algorithm based on the graph Laplacian method.Firstly,the UAV formation control problem is transformed into the design problem of moving parameter group based on rotation,scaling and translation.And through the design of formation control law,the accurate generation of dynamic formation is realized.Secondly,the formation control method is applied to the target tracking problem.By analyzing the tracking situation under different target speeds and establishing the corresponding tracking model,the problem of tracking target speed limit is overcome,and the UAV formation can co-track the target quickly.Finally,the simulation results verify the effectiveness and advantages of the designed method.
作者
张毅
方国伟
杨秀霞
ZHANG Yi;FANG Guowei;YANG Xiuxia(College of Aviation Combat Service, Naval Aviation University, Yantai 264001, China;College of Coastal Defence, Naval Aviation University, Yantai 264001, China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2021年第3期796-805,共10页
Systems Engineering and Electronics
基金
总装预研基金(6142055040203)资助课题。
关键词
多无人机
目标跟踪
编队控制
图Laplacian
multiple unmanned aerial vehicle(UAV)
target tracking
formation control
graphical Laplacian
