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多无人机协同搜索区域分割与覆盖

于驷男 周锐 夏洁 车军

于驷男, 周锐, 夏洁, 等 . 多无人机协同搜索区域分割与覆盖[J]. 北京航空航天大学学报, 2015, 41(1): 167-173. doi: 10.13700/j.bh.1001-5965.2014.0056
引用本文: 于驷男, 周锐, 夏洁, 等 . 多无人机协同搜索区域分割与覆盖[J]. 北京航空航天大学学报, 2015, 41(1): 167-173. doi: 10.13700/j.bh.1001-5965.2014.0056
YU Sinan, ZHOU Rui, XIA Jie, et al. Decomposition and coverage of multi-UAV cooperative search area[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(1): 167-173. doi: 10.13700/j.bh.1001-5965.2014.0056(in Chinese)
Citation: YU Sinan, ZHOU Rui, XIA Jie, et al. Decomposition and coverage of multi-UAV cooperative search area[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(1): 167-173. doi: 10.13700/j.bh.1001-5965.2014.0056(in Chinese)

多无人机协同搜索区域分割与覆盖

doi: 10.13700/j.bh.1001-5965.2014.0056
基金项目: 国家自然科学基金资助项目(61273349,61175109,61203223,61333004);航空科学基金资助项目(2013ZA18001);北航基本科研业务费资助项目(YWF-14-ZDHXY-03)
详细信息
    作者简介:

    于驷男(1990-),男,黑龙江哈尔滨人,硕士生,sinan_yu_19901011@126.com

    通讯作者:

    周锐(1968-),男,湖北钟祥人,教授,zhr@buaa.edu.cn,主要研究方向为无人机自主控制、飞行器智能决策、管理与控制.

  • 中图分类号: TP391.9

Decomposition and coverage of multi-UAV cooperative search area

  • 摘要: 多无人机覆盖搜索是无人机的一项主要任务,将搜索区域进行分割后,每个子区域内成为单机覆盖搜索问题,大大降低了任务难度.对无人机的平行搜索策略进行了详细的分析,针对平行搜索策略给出了搜索起始点、转弯关键点、搜索终点的判断依据,使得区域覆盖率达到100%.分析了最小转弯半径对搜索路径的影响.根据无人机初始位置和搜索面积对任意凸多边形搜索区域进行分割.针对无人机搜索的特点,以转弯次数作为主要依据对分割结果进行评估.对不同情况下无人机从初始位置到搜索起始点的路径进行了研究.最后通过仿真验证了方法的实用性.

     

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出版历程
  • 收稿日期:  2014-02-12
  • 网络出版日期:  2015-01-20

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