Unmanned Aerial Vehicle(UAV)swarms have been foreseen to play an important role in military applications in the future,wherein they will be frequently subjected to different disturbances and destructions such as attac...Unmanned Aerial Vehicle(UAV)swarms have been foreseen to play an important role in military applications in the future,wherein they will be frequently subjected to different disturbances and destructions such as attacks and equipment faults.Therefore,a sophisticated robustness evaluation mechanism is of considerable importance for the reliable functioning of the UAV swarms.However,their complex characteristics and irregular dynamic evolution make them extremely challenging and uncertain to evaluate the robustness of such a system.In this paper,a complex network theory-based robustness evaluation method for a UAV swarming system is proposed.This method takes into account the dynamic evolution of UAV swarms,including dynamic reconfiguration and information correlation.The paper analyzes and models the aforementioned dynamic evolution and establishes a comprehensive robustness metric and two evaluation strategies.The robustness evaluation method and algorithms considering dynamic reconfiguration and information correlation are developed.Finally,the validity of the proposed method is verified by conducting a case study analysis.The results can further provide some guidance and reference for the robust design,mission planning and decision-making of UAV swarms.展开更多
针对无人机编队内避碰问题,提出一种可实时机间避碰以及多碰撞冲突管理的多无人机协同航迹规划方案。通过对UAV编队避碰问题进行分析,采用分布式模型预测控制(decentralized model predictive control,DMPC)方法,将其转换为滚动在线优...针对无人机编队内避碰问题,提出一种可实时机间避碰以及多碰撞冲突管理的多无人机协同航迹规划方案。通过对UAV编队避碰问题进行分析,采用分布式模型预测控制(decentralized model predictive control,DMPC)方法,将其转换为滚动在线优化问题。设计了避碰管理单元,采用交互图更新机制解决多碰撞管理问题,运用基于角度变化的协同避碰规则,解决了分布式避碰问题的动作一致性问题。仿真结果表明,该方案可以有效解决4架无人机间多碰撞冲突问题,同时代价更小。展开更多
基金co-supported by the National Natural Science Foundation of China(No.51805016)Field Foundation of China(No.JZX7Y20190242012001).
文摘Unmanned Aerial Vehicle(UAV)swarms have been foreseen to play an important role in military applications in the future,wherein they will be frequently subjected to different disturbances and destructions such as attacks and equipment faults.Therefore,a sophisticated robustness evaluation mechanism is of considerable importance for the reliable functioning of the UAV swarms.However,their complex characteristics and irregular dynamic evolution make them extremely challenging and uncertain to evaluate the robustness of such a system.In this paper,a complex network theory-based robustness evaluation method for a UAV swarming system is proposed.This method takes into account the dynamic evolution of UAV swarms,including dynamic reconfiguration and information correlation.The paper analyzes and models the aforementioned dynamic evolution and establishes a comprehensive robustness metric and two evaluation strategies.The robustness evaluation method and algorithms considering dynamic reconfiguration and information correlation are developed.Finally,the validity of the proposed method is verified by conducting a case study analysis.The results can further provide some guidance and reference for the robust design,mission planning and decision-making of UAV swarms.
文摘针对无人机编队内避碰问题,提出一种可实时机间避碰以及多碰撞冲突管理的多无人机协同航迹规划方案。通过对UAV编队避碰问题进行分析,采用分布式模型预测控制(decentralized model predictive control,DMPC)方法,将其转换为滚动在线优化问题。设计了避碰管理单元,采用交互图更新机制解决多碰撞管理问题,运用基于角度变化的协同避碰规则,解决了分布式避碰问题的动作一致性问题。仿真结果表明,该方案可以有效解决4架无人机间多碰撞冲突问题,同时代价更小。
