摘要
针对复杂环境下空地无人集群协调控制与决策问题,提出了一种基于有限状态机切换机制和冲突消解决策库的共识决策方法。首先,建立了双层协同控制框架,提出了空地无人集群时空协调控制方法,可实现集群队形自调节与自主避障;其次,面向空地无人集群冲突消解任务,设计了基于有限状态机的动态决策切换机制;然后,综合考虑集群动态路径和队形边界,构建了空地无人集群冲突消解决策库;最后,完成了典型协同导航避障数字仿真试验,验证了空地无人集群分组共识决策方法可有效实现编队时空协调与冲突消解。
This paper addresses the challenges of coordinating control and decision-making for aerial-ground unmanned swarms in complex environments by proposing a consensus decision-making method based on a finite state machine switching mechanism and a conflict resolution decision library.First,a dual-layer collaborative control framework is established,and a spatiotemporal coordination control approach is introduced,which enables autonomous formation adjustment and obstacle avoidance for the swarm.Second,a dynamic decision-switching mechanism based on finite state machines is designed to address conflict resolution tasks within aerial-ground unmanned swarms.Next,a conflict resolution decision library is constructed,taking into account the dynamic paths and formation boundaries of the swarm.Finally,typical digital simulation experiments for collaborative navigation and obstacle avoidance are conducted,validating the effectiveness of the proposed consensus decision-making method in achieving spatiotemporal coordination and conflict resolution within aerial-ground unmanned swarms.
作者
赵江
陈澍堃
张璇
池沛
王英勋
ZHAO Jiang;CHEN Shukun;ZHANG Xuan;CHI Pei;WANG Yingxun(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100000 China;Institute of Unmanned System Beihang University,Beihang University,Beijing 100000 China)
出处
《电光与控制》
北大核心
2026年第1期1-7,共7页
Electronics Optics & Control
基金
中央高校基本科研业务费专项资金资助。
关键词
空地无人集群
分组共识决策
时空协调控制
有限状态机切换
冲突消解规则库
aerial-ground unmanned swarm
consensus decision-making
spatiotemporal coordination control
finite state machine switching
conflict resolution decision library
