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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。
Abstract:Quadrotor swarms can be used for regional reconnaissance to establish the cognition of the environment and targets. This study offers a distributed cooperative search algorithm and a dynamic target surrounding technique for quadrotor swarm to solve the challenge of locating and monitoring targets in unexplored areas. To reduce the complexity of the search algorithm, the area is divided into two-level grid subareas by the grid division method. Considering the randomness of dynamic targets, a digital pheromone is designed to guide quadrotors to perform a second search in the mission area. Taking the fast search target as the reward function, the optimal solution is obtained through rolling optimization as the input of quadrotors. The consensus protocol is then used as the foundation for a cooperative tracking and surrounding procedure to gather real-time data on dynamic targets. Several simulation results and outdoor flight experiments verify that the proposed algorithm can effectively search and dynamically monitor dynamic targets in unknown areas.
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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 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
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