摘要
针对多无人机协同搜索区域内多运动目标问题,考虑传感器的探测概率与虚警概率、无人机的飞行与避撞约束和目标随机运动等特征,提出基于信息图的多无人机三维协同搜索方法.以无人机搜索的短期收益、长期收益和协调收益的平衡为核心,考虑无人机三维运动的特征,构建多无人机协同搜索的数学规划模型,并设计包含目标存在概率、环境不确定度、重访信息素和搜索增益4个因子的搜索信息图.基于滚动规划架构,整合新提出的剪枝方法进行模型的求解.在典型的协同搜索场景下,通过数值仿真验证所提方法的有效性.仿真结果表明,所提出的方法可以在秒级的时间内做出每架无人机的三维航迹决策,重访信息素和搜索增益因子可以引导无人机捕获更多的目标.对比仿真结果表明,所提出的方法可以在捕获更多目标的同时具有更少的误判次数,有效提升了多无人机协同搜索的任务效能.
Aiming at the problem of multi-UAV cooperative searching for multiple moving targets in the area,considering the detection and false alarm probability of sensors,the flight and collision avoidance constraints of multi-UAV,and the random motion of targets,a multi-UAV three-dimensional cooperation search method based on an information map is proposed.Taking the balance of short-term benefits,long-term benefits and coordination benefits of UAV search as the core,considering the characteristics of the three-dimensional motion of a UAV,a mathematical programming model for multi-UAV cooperative search is constructed,and a search information map is designed with four factors of existence probability,environmental uncertainty,revisiting pheromone and searching gain.The model is solved based on the rolling planning architecture,integrating the newly proposed pruning method.In a typical cooperative search scenario,the effectiveness of the proposed method is verified by numerical simulation experiments.The simulation results show that the proposed method can make the three-dimensional flight decision of each UAV in seconds,revisiting pheromone and searching gain factors can guide the UAV to capture more targets.The comparative simulation results show that the proposed method can capture more targets while having fewer misjudgments,which effectively improves the task efficiency of multi-UAV cooperative search.
作者
王洪民
庄育锋
韦凌云
田家强
WANG Hong-min;ZHUANG Yu-feng;WEI Ling-yun;TIAN Jia-qiang(School of Modern Post,Beijing University of Posts and Telecommunications,Beijing 100876,China)
出处
《控制与决策》
EI
CSCD
北大核心
2023年第12期3534-3542,共9页
Control and Decision
关键词
协同搜索
信息图
三维航迹规划
重访机制
滚动规划
cooperative search
information map
three dimensional path planning
revisit mechanism
rolling planning
