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未知区域中四旋翼无人机集群协同搜索与围捕算法

过劲劲 齐俊桐 王明明 吴冲 徐士博

过劲劲,齐俊桐,王明明,等. 未知区域中四旋翼无人机集群协同搜索与围捕算法[J]. 北京航空航天大学学报,2023,49(8):2001-2010 doi: 10.13700/j.bh.1001-5965.2021.0606
引用本文: 过劲劲,齐俊桐,王明明,等. 未知区域中四旋翼无人机集群协同搜索与围捕算法[J]. 北京航空航天大学学报,2023,49(8):2001-2010 doi: 10.13700/j.bh.1001-5965.2021.0606
GUO J J,QI J T,WANG M M,et al. A cooperative search and encirclement algorithm for quadrotors in unknown areas[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(8):2001-2010 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0606
Citation: GUO J J,QI J T,WANG M M,et al. A cooperative search and encirclement algorithm for quadrotors in unknown areas[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(8):2001-2010 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0606

未知区域中四旋翼无人机集群协同搜索与围捕算法

doi: 10.13700/j.bh.1001-5965.2021.0606
基金项目: 国家自然科学基金(61873182);航空电子系统综合技术重点实验室和航空科学基金联合资助(202055048002)
详细信息
    通讯作者:

    E-mail:qijt@tju.edu.cn

  • 中图分类号: V279+.3;V249.122

A cooperative search and encirclement algorithm for quadrotors in unknown areas

Funds: National Natural Science Foundation of China (61873182);Science and Technology on Avionics Integration Laboratory & Aeronautical Science Foundation of China (202055048002)
More Information
  • 摘要:

    四旋翼无人机集群可以被用来进行区域侦察,以建立对环境与兴趣目标的认知。为四旋翼无人机集群提出一种分布式协同搜索算法和动态目标包围技术,以解决在未探测区域定位和监测目标中所遇到的挑战。为降低所提算法的复杂度,通过栅格划分方法将任务区域划分为2级栅格子区域。考虑到动态目标的随机性,设计一种数字信息素来引导多无人机对任务区域进行2次搜索,并以快速搜索到目标为奖励函数,通过滚动优化决策得到最优解作为无人机的输入。然后,基于一致性协议设计一种多无人机协同跟踪与围捕协议,以获取动态目标的实时信息。数个仿真结果与室外飞行实验验证了所提算法能够使四旋翼无人机对未知区域中动态目标进行有效搜索与动态监视。

     

  • 图 1  四旋翼无人机集群协同搜索示意图

    Figure 1.  Illustration of quadrotors cooperative search

    图 2  四旋翼无人机集群平台的硬件结构

    Figure 2.  Hardware structure of quadrotors platform

    图 3  多四旋翼无人机间的数据流

    Figure 3.  Data stream of multiple UAVs

    图 4  gazebo中3个侦查无人机对S型运动目标的搜索与围捕

    Figure 4.  Cooperative search of S-type moving target by three quadrotors in gazebo simulation

    图 5  实验1中gazebo中无人机的位置轨迹

    Figure 5.  Trajectories of quadrotors in gazebo simulation in expetiment 1

    图 6  实验1中多四旋翼无人机目标搜索和围捕的图像

    Figure 6.  Target search and enclosure image of quadroctors in experiment 1

    图 7  实验1中侦察机与动态目标的位置轨迹

    Figure 7.  Trajectories of quadrotors and target in experiment 1

    图 8  实验1中无人机与目标的距离及无人机之间距离

    Figure 8.  Distance between UAVs and target and distance between UAVs in experiment 1

    图 9  gazebo中侦察机对圆型运动目标的搜索

    Figure 9.  Cooperative search of circular moving target by reconnaissance quadrotors in gazebo simulation

    图 10  实验2中gazebo中无人机的位置轨迹

    Figure 10.  Trajectories of quadrotors in gazebo simulation in experiment

    图 11  实验2中多四旋翼无人机中目标搜索和围捕的图像

    Figure 11.  Target search and enclosure image of quadroctors in experiment 2

    图 12  实验2中侦察机与动态目标的位置轨迹

    Figure 12.  Trajectories of quadrotors and target in experiment 2

    图 13  实验2中无人机与目标的距离及无人机之间距离

    Figure 13.  Distance between UAVs and target and distance between UAVs in experiment 2

    图 14  仿真中的4架无人机的位置轨迹

    Figure 14.  Trajectories of 4 quadrotors in the simulation

    图 15  4架无人机遍历搜索的结果

    Figure 15.  Traverse search results of 4 quadrotor

    图 16  发现的目标数量

    Figure 16.  Number of targets found

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出版历程
  • 收稿日期:  2021-10-14
  • 录用日期:  2022-01-03
  • 网络出版日期:  2022-02-15
  • 整期出版日期:  2023-08-31

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