查询结果:   吴楠,吴庆.面向不确定目标的多无人机协同搜索控制方法[J].计算机应用与软件,2015,32(2):174 - 177.
中文标题
面向不确定目标的多无人机协同搜索控制方法
发表栏目
人工智能与识别
摘要点击数
1012
英文标题
COOPERATIVE SEARCH CONTROL METHOD WITH MULTI-UAVS FOR UNCERTAIN TARGETS
作 者
吴楠 吴庆 Wu Nan Wu Qing
作者单位
西北工业大学力学与土木建筑学院 陕西 西安 710072 空军工程大学 陕西 西安 710038    
英文单位
School of Mechanics and Civil Architecture,Northwestern Polytechnical University,Xi’an 710072,Shaanxi,China Air Force Engineering University,Xi’an 710038,Shaanxi,China    
关键词
无人机 协同搜索 Bayesian准则 模型预测控制
Keywords
Unmanned aerial vehicle Cooperative search Bayesian criterion Model predictive control
基金项目
作者资料
吴楠,讲师,主研领域:飞行器自动控制与交通管理。吴庆,教授。 。
文章摘要
目标搜索是多无人机协同控制的重要研究内容。多架UAV(Unmanned Aeiral Vehicle)同时对一个未知区域进行搜索,目的在于获取搜索区域的信息,尽可能多地发现目标。针对不确定目标的搜索问题,研究多无人机协同搜索控制的新方法。建立多UAV运动模型,用目标存在概率对搜索环境进行描述,给出基于Bayesian准则的搜索环境更新方法,考虑了环境探测回报、目标发现回报和无人机协同回报,采用MPC实现对多目标优化问题的迭代求解。通过仿真实验和对比分析,证明了该方法具有更好的搜索性能。
Abstract
Target search is an important research subject in multiple unmanned aerial vehicles (UAVs) cooperative control area. To search an unknown area with multiple-UAVs simultaneously is for obtaining regional information and to find as much targets as possible. Aiming at the search problem in regard to uncertain targets, we study a new method of multiple-UAVs cooperative search control. We build multiple-UAVs motion model, and describe the search environment by using target existence probability, and present a Bayesian criterion-based update method for search environment. With taking the environment detection reward, target discover reward and cooperative reward into consideration, we use MPC to implement the iterative solution on multi-objective optimisation. It is proved that the new method has better search performances through comparison and analysis in simulation experiments.
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