摘要
四旋翼无人机集群可以被用来进行区域侦察,以建立对环境与兴趣目标的认知。为四旋翼无人机集群提出一种分布式协同搜索算法和动态目标包围技术,以解决在未探测区域定位和监测目标中所遇到的挑战。为降低所提算法的复杂度,通过栅格划分方法将任务区域划分为2级栅格子区域。考虑到动态目标的随机性,设计一种数字信息素来引导多无人机对任务区域进行2次搜索,并以快速搜索到目标为奖励函数,通过滚动优化决策得到最优解作为无人机的输入。然后,基于一致性协议设计一种多无人机协同跟踪与围捕协议,以获取动态目标的实时信息。数个仿真结果与室外飞行实验验证了所提算法能够使四旋翼无人机对未知区域中动态目标进行有效搜索与动态监视。
Quadrotor swarms can be used for regional reconnaissance to establish the cognition of the environment and targets.This study offers a distributed cooperative search algorithm and a dynamic target surrounding technique for quadrotor swarm to solve the challenge of locating and monitoring targets in unexplored areas.To reduce the complexity of the search algorithm,the area is divided into two-level grid subareas by the grid division method.Considering the randomness of dynamic targets,a digital pheromone is designed to guide quadrotors to perform a second search in the mission area.Taking the fast search target as the reward function,the optimal solution is obtained through rolling optimization as the input of quadrotors.The consensus protocol is then used as the foundation for a cooperative tracking and surrounding procedure to gather real-time data on dynamic targets.Several simulation results and outdoor flight experiments verify that the proposed algorithm can effectively search and dynamically monitor dynamic targets in unknown areas.
作者
过劲劲
齐俊桐
王明明
吴冲
徐士博
GUO Jinjin;QI Juntong;WANG Mingming;WU Chong;XU Shibo(School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;School of Artifical Intelligence,Shanghai University,Shanghai 200444,China;EFY Intelligent Control(Tianjin)Technology Co.,Ltd.,Tianjin 300450,China)
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2023年第8期2001-2010,共10页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金(61873182)
航空电子系统综合技术重点实验室和航空科学基金联合资助(202055048002)。
关键词
未知区域
四旋翼无人机集群
协同搜索
协同围捕
数字信息素
实验验证
unknown areas
quadrotor swarm
cooperative search
cooperative encirclement
digital pheromone
experimental verification
