摘要
针对多无人机在未知环境下的目标搜索与围捕问题,文中提出一种多无人机协同搜索与围捕策略。该策略分为两部分:一是基于区域划分的多无人机遍历式协同搜索;二是基于时间一致性的多无人机协同围捕。首先,根据相关参数对任务区域进行子区域划分,并根据无人机与子区域中心点距离以及子区域的状态进行子区域搜索任务实时分配;其次,根据目标的位置以及建立的围捕点生成模型,解算出围捕点;最后,采用距离协商法,根据各无人机与各围捕点之间的距离进行围捕点的合理分配,并根据各无人机与其配对围捕点之间的距离以及无人机的速度范围建立多无人机的时间一致性约束,通过调节各无人机的飞行速度实现同时到达配对围捕点的目的。考虑到环境未知,在多无人机协同搜索与围捕的过程中,采用VFH+进行无人机的局部路径规划,以确保无人机的安全。仿真结果表明,所提出的多无人机协同搜索与围捕策略具有可行性。
A cooperative search and round up strategy of multiple⁃UAV is proposed to improve the target search and round up of multiple UAVs in unknown environment.The strategy can be divided into two parts:the multi⁃UAV ergodic cooperative search based on region division,and the multi⁃UAVs cooperative round up based on time consistency.The task area is divided according to the relevant parameters,and the sub⁃region search task is allocated in real time according to the distance between the UAV and the center point of the sub⁃region and the state of the sub⁃region.The round up points are calculated according to the location of the target and the designed round up point generation model.The distance negotiation method is adopted to reasonably allocate the round up points according to the distance between each UAV and each round up point.The time consistency constraint of multi⁃UAVs is established according to the distance between each UAV and its matching round up point and the speed range of UAVs.The purpose of reaching the matching round up point at the same time is achieved by adjusting the flight speed of each UAV.In consideration of the unknown environment,VFH+is used for local path planning of UAVs in the process of cooperative search and round up of multi⁃UAVs to ensure the safety of UAVs.The simulation results show that the proposed cooperative search and round up strategy of multi⁃UAVs is feasible.
作者
刘云辉
石永康
LIU Yunhui;SHI Yongkang(School of Mechanical Engineering,Xinjiang University,Urumqi 830017,China)
出处
《现代电子技术》
2023年第6期98-104,共7页
Modern Electronics Technique
基金
国家自然科学基金项目(51965056)
2019年度自治区高校科研计划项目(61021800081)
自治区高层次人才项目(100400027)。
关键词
多无人机
区域划分
遍历式搜索
协同围捕
距离协商法
时间一致性
VFH+
仿真实验
multi⁃UAV
regional division
traversal search
coordinated round up
distance negotiation method
time consistency
VFH+
simulation experiment
