摘要
针对需要远距突防的不确定区域运动目标的搜索问题,提出了多无人机(UAV)远距突防和协同目标搜索的路径决策。改进基本的二维扩散模型,建立考虑目标运动与地理环境限制条件下的不确定区域扩散模型,在此基础上基于电势场算法和滚动时域控制研究了远距突防与优化路径决策策略。综合考虑不确定性降低收益、平均不确定度与综合抗力,构建协同搜索收益函数,为协同搜索路径决策提供路径优化准则,进行仿真实验。仿真结果表明,本算法能够有效地应对突发威胁与不确定区域扩散,完成多UAV远距突防与协同目标搜索任务。
For the search problem of mobile targets in an uncertain region after long-range penetration, a long-range penetration and cooperative search path decision-making method of multiple UAVs is proposed. The basic planar diffusion model is improved, and an uncertainty region diffusion model is built by considering the target motion and the circumstance constraints. The strategy of the penetration decision and trajectory optimization search decision-making is researched for mobile target based on the algorithms of potential field and receding horizon control. The proceed function of the cooperative search is proposed in consideration that the uncertainty reduce proceeds, average uncertainty and integration cross, which is the trajectory optimization rule of the cooperative penetration and search decision-making. The simulation was carried out. The simulation results show that the algorithm is useful in dealing with the emergent threat and the uncertainty area diffusion, and can complete the long-range penetration and the cooperative search mission of multiple UAVs.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2014年第2期248-255,共8页
Acta Armamentarii
基金
航空科学基金项目(20105196016)
关键词
飞行器控制、导航技术
多无人机
不确定区域扩散模型
远距突防
协同目标搜索
control and navigation technology of aerocraft
multiple UAV
uncertainty region diffusion model
long-range penetration
cooperative target search
