| 引用本文: | 王洪民,田家强,韦凌云,庄育锋.多运动目标的多无人机协同搜索追踪策略[J].控制理论与应用,2021,38(7):971~978.[点击复制] |
| WANG Hong-min,TIAN Jia-qiang,WEI Ling-Yun,ZHUANG Yu-feng.Multi-unmanned aerial vehicles cooperative searching and tracking strategy for multiple moving targets[J].Control Theory and Technology,2021,38(7):971~978.[点击复制] |
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| 多运动目标的多无人机协同搜索追踪策略 |
| Multi-unmanned aerial vehicles cooperative searching and tracking strategy for multiple moving targets |
| 摘要点击 2658 全文点击 723 投稿时间：2020-08-27 修订日期：2021-06-17 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2021.00565 |
| 2021,38(7):971-978 |
| 中文关键词 无人机 运动目标 协同搜索 航迹规划 人工势场 |
| 英文关键词 unmanned aerial vehicles (UAV) moving targets cooperative searching path planning artificial potential field method (APF) |
| 基金项目 |
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| 中文摘要 |
| 针对多无人机协同搜索追踪区域内多运动目标问题, 考虑无人机的传感器与避撞等约束和目标随机运动
等特征, 提出了以垂线搜索为基础的多无人机协同搜索追踪策略. 策略包含任务分配和航迹规划两部分. 在任务分
配部分, 设计了航道均分垂线搜索算法, 将搜索资源在区域内均匀分配, 提高协同搜索效能. 在航迹规划部分, 设计
了改进的人工势场算法, 避免发生机间碰撞, 保障飞行安全. 在典型场景下, 仿真验证了策略的有效性, 相比传统垂
线搜索方法, 本策略能在保证安全的前提下, 引导无人机群捕获更多的目标, 有效提升了多无人机协同搜索追踪的
效果. |
| 英文摘要 |
| Aiming at the problem of multi-unmanned aerial vehicles (multi-UAV) cooperative search and tracking of
multiple moving targets in the area, considering the constraints of the UAV sensors and collision avoidance and the characteristics
of the random movement of the targets, a multi-UAV cooperative searching and tracking strategy based on the
vertical search is proposed. The strategy includes two parts: task assignment and path planning. In the first part, an equallydivided
course vertical line (ECVL) search arithmetic is designed, which can make the search resources evenly distributed
in the area and improve the efficiency of cooperative search. In the second part, an improved artificial potential field (IAPF)
method is designed to avoid collisions between multi-UAV and ensure flight safety. In a typical situation, the simulation
verifies the effectiveness of the strategy. Compared with the traditional vertical search method, this strategy can guide the
multi-UAV swarm to capture more targets under the premise of ensuring safety, which effectively improves the effect of
multi-UAV cooperative searching and tracking. |
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