基于角色切换策略的多无人机协同区域搜索

朱黔; 许诺; 黄蓓; 李强; 周锐

doi:10.13700/j.bh.1001-5965.2020.0070

基于角色切换策略的多无人机协同区域搜索

doi: 10.13700/j.bh.1001-5965.2020.0070

朱黔^1,,
许诺^{1, 2},
黄蓓¹,
李强¹,
周锐³

1.
中国运载火箭技术研究院战术武器事业部, 北京 100076
2.
北京航空航天大学航空科学与工程学院, 北京 100083
3.
北京航空航天大学自动化科学与电气工程学院, 北京 100083

基金项目:

国家自然科学基金 61903084

火箭军装备预先研究项目 304020302

江苏省自然科学基金 BK20180358

详细信息

作者简介:
朱黔男，博士，工程师。主要研究方向：任务规划、智能决策。许诺男，博士研究生，高级工程师。主要研究方向：任务规划、飞行器控制

通讯作者:
朱黔, E-mail:ZhuQian@buaa.edu.cn

中图分类号: TP391
计量
- 文章访问数: 832
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- 被引次数: 0
出版历程
- 收稿日期: 2020-03-02
- 录用日期: 2020-04-03
- 网络出版日期: 2021-05-20

Multi-UAV cooperative surveillance based on role switch strategy

ZHU Qian^1
,,
XU Nuo^{1, 2},
HUANG Bei¹,
LI Qiang¹,
ZHOU Rui³

1.
Tactical Weapons Division, China Academy of Launch Vehicle Technology, Beijing 100076, China
2.
School of Aeronautic Science and Engineering, Beihang University, Beijing 100083
3.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

Funds:

National Natural Science Foundation of China 61903084

Equipment Advanced Research Project of PLA Rocket Force 304020302

Natural Science Foundation of Jiangsu Province BK20180358

More Information

Corresponding author: ZHU Qian, E-mail:ZhuQian@buaa.edu.cn

摘要

摘要:
针对存在随机分布目标的区域快速搜索问题开展研究，考虑无人机有限通信能力和探测信息的实时回传需求，提出了一种基于角色切换策略的多无人机协同区域搜索方法。首先，考虑各无人机平台的历史搜索信息和协同搜索收益，基于概率传感器模型构建了多无人机协同区域搜索求解框架；其次，基于4项无人机节点重要性的评价指标，采用改进逼近理想解排序法（TOPSIS）完成无人机节点重要性评估，通过无人机角色动态切换实现了区域搜索过程中协同搜索收益与网络连通性的平衡；最后，考虑机间防撞、通信保持、无人机运动学等约束条件，利用分布式滚动时域优化方法完成各无人机在线运动规划，实现多无人机协同区域搜索。仿真结果表明了所提方法的可行性和有效性。
- 无人机 /
- 节点重要性 /
- 角色切换策略 /
- 协同区域搜索 /
- 改进逼近理想解排序法(TOPSIS)
Abstract:
With limited communication range and real-time information transmission via multihop communications, a novel multi-UAV cooperative surveillance method based on role switch strategy is proposed for searching unknown region and monitoring some hotspots. Firstly, considering history detection information and cooperative surveillance, a multi-UAV cooperative surveillance frame is implemented based on probabilistic sensor model. Secondly, four attributes are proposed to characterize differences among UAV alternatives in communication network containing ground station, and a novel UAVs role switch strategy is proposed based on UAV node importance evaluation to achieve tradeoff between surveillance mission and connectivity maintenance with improved Technique for Order Preferenceby Similarity to Ideal Solution (TOPSIS). Finally, considering collision avoidance, connectivity maintenance and UAV dynamics constraints, UAVs motion plan is optimized by distributed receding horizon control based on different UAV roles to achieve multi-UAV cooperative surveillance. Simulation results demonstrate the feasibility and effectiveness of the proposed methods in multi-UAV cooperative surveillance.
- UAV /
- node importance /
- role switch strategy /
- cooperative surveillance /
- improved Technique for Order Preferenceby Similarity to Ideal Solution (TOPSIS)

HTML全文

图 1 存在地面站的多无人机协同区域搜索

Figure 1. Multi-UAV cooperative surveillance with ground station

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图 2 协同区域搜索任务中无人机角色切换关系

Figure 2. Role switch relationship among UAVs in cooperative surveillance

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图 3 角色调整阶段无人机相对位置关系

Figure 3. Geometry relationship among different UAVs in role conversion stage

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图 4 多无人机协同区域搜索轨迹

Figure 4. Multi-UAV cooperative surveillance trajectories

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图 5 多无人机协同区域搜索收益

Figure 5. Payoff in multi-UAV cooperative surveillance

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图 6 拉普拉斯矩阵第二小特征值

Figure 6. The second smallest eigenvalue of Laplacian matrices

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图 7 多无人机协同区域搜索中无人机角色切换

Figure 7. UAV role switch in multi-UAV cooperative surveillance

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图 8 相对距离曲线

Figure 8. Relative distance curves

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图 9 不同传感器能力下的协同搜索收益

Figure 9. Cooperative search payoff under differentsensor capacities

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图 10 不同搜索策略下的协同搜索收益

Figure 10. Cooperative search payoff under different search strategies

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表 1 协同区域搜索任务中无人机角色信息

Table 1. UAV roles in cooperative surveillance

角色	功能	目标
中继无人机	提供机间数据传输服务	确保地面站与关节无人机间的通信连接
关节无人机	连接搜索无人机和中继无人机	平衡搜索任务和网络连通性
搜索无人机	搜索未知区域获取目标信息	最大化协同搜索收益

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表 2 不同传感器能力下的多无人机协同区域搜索结果

Table 2. Multi-UAV cooperative surveillance results under different sensor capacities

传感器能力(距离、方位角、俯仰角)	平均发现目标数目	平均网格探测比例/%	平均最小完成任务时间/s
600 m, 75°, 30°	10	0.904 32	127.55
600 m, 60°, 30°	10	0.906 16	130.1
500 m, 60°, 30°	10	0.861 2	133.3
400 m, 45°, 30°	8.7	0.714 76	178.75
300 m, 45°, 30°	7.4	0.566 24	183.2

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