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群无人机动态环境分布式持续覆盖算法 被引量:6
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作者 吴炎烜 《北京理工大学学报》 EI CAS CSCD 北大核心 2016年第6期588-592,共5页
动态环境具有多变性和不确定性,为将动态环境的不确定性控制在一定范围内,需要群无人机对其进行持续覆盖以便完成感知、监视、侦察等任务.提出了一种考虑无人机飞行动力学约束的分布式协同覆盖算法,无需先验知识、无需事先进行路径规划... 动态环境具有多变性和不确定性,为将动态环境的不确定性控制在一定范围内,需要群无人机对其进行持续覆盖以便完成感知、监视、侦察等任务.提出了一种考虑无人机飞行动力学约束的分布式协同覆盖算法,无需先验知识、无需事先进行路径规划.各无人机独立地根据局部感知和局部通信所获信息进行在线覆盖决策,使整个群无人机系统涌现出持续覆盖行为.提出的方法通信次数少,仅需邻居无人机的位置信息进行合作,且对无人机的前飞航向没有数量约束.仿真结果表明,此分布式算法可实现群无人机对动态环境的持续覆盖,算法性能稳定,具有很好的灵活性和可扩展性. 展开更多
关键词 群无人机 持续覆盖 分布式协同
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Resilience approach for heterogeneous distributed networked unmanned weapon systems 被引量:2
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作者 吴炎烜 《Journal of Beijing Institute of Technology》 EI CAS 2015年第2期180-187,共8页
Disconnection in the distributed heterogeneous networked unmanned weapon systems is caused by multiple weapon units' failure. The technical routes were analyzed to achieve resilience in the disconnection situation. A... Disconnection in the distributed heterogeneous networked unmanned weapon systems is caused by multiple weapon units' failure. The technical routes were analyzed to achieve resilience in the disconnection situation. A heterogeneous distributed network model of networked unmanned weapon systems was established. And an approach of adding relay weapon units was proposed to a- chieve fault tolerance after weapon units' failure due to attack or energy exhaustion. An improved ge- netic algorithm was proposed to determine and optimize the position of the relay weapon units. Simulation results in the MATLAB show that the improved resilience-based genetic algorithm can restore the network connection maximally when the number of relay units is limited, the network can keep on working after failure, and the implementation cost is controlled in a reasonable range. 展开更多
关键词 distributed heterogeneous network unmanned weapon system genetic algorithm RESILIENCE
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