摘要
自主协同控制是实现无人机集群高效协同编队的一种主流控制方法,属于当前无人机控制领域的研究热点和难点。论文首先从两类无人机集群编队自主协同控制主流类型切入。然后,重点对集中式控制类型中的领航者-跟随者法、虚拟结构法,和分布式控制类型中的人工势场法、行为法、一致性理论法、深度强化学习法等典型方法的基本思想、特点和最新研究进展进行了对比分析。最后,对无人机集群编队自主协同控制方法的发展趋势进行展望,以期为后续研究提供参考。
Autonomous cooperative control is a mainstream control method to realize efficient cooperative formation of UAV cluster,which is a hot and difficult research topic in UAV control field.This paper starts with two main types of autonomous coopera-tive control of UAV cluster formation.Then,the basic ideas,characteristics and the latest research progress of the typical methods such as the leader-follower method,the virtual structure method in the centralized control type and the artificial potential field meth-od,the behavior method,the consistency theory method and the deep reinforcement learning method in the distributed control type are analyzed.Finally,the development trend of autonomous cooperative control method of UAV cluster formation is prospected,which provides reference for the subsequent research.
作者
高甲博
肖玮
GAO Jiabo;XIAO Wei(Army Logistics Academy,Chongqing 401331)
出处
《舰船电子工程》
2024年第1期20-26,75,共8页
Ship Electronic Engineering
基金
陆军装备综合研究科学研究项目(编号:LJ2022Z060078)
陆军勤务学院研究生创新基金项目(编号:LJ2022Z061127)资助。
关键词
无人机集群编队
自主协同控制
编队控制
集中式
分布式
UAV cluster formation
autonomous cooperative control
formation control
centralized
distributed Class Number V279
