未知环境下多UAV搜索的区域再入

doi:10.3969/j.issn.0255-8297.2013.03.015

应用科学学报 ›› 2013, Vol. 31 ›› Issue (3): 315-320.doi: 10.3969/j.issn.0255-8297.2013.03.015

未知环境下多UAV搜索的区域再入

杜继永1，张凤鸣2，毛红保3，杨骥1，张超1

1. 空军工程大学装备管理与安全工程学院，西安710051
2. 空军工程大学训练部, 西安710051
3. 空军工程大学航空航天工程学院, 西安710038

收稿日期:2011-12-18 修回日期:2012-06-24 出版日期:2013-05-28 发布日期:2012-06-24
作者简介:杜继永，博士生，研究方向：信息系统工程与智能决策，E-mail: dujiyong_86@163.com；张凤鸣，教授，博导，研究方向：信息系统工程与智能决策等，E-mail: zfmafeu@gmail.com.
基金资助:
国家自然科学基金(No.60304004)；总装备部国防预研基金资助

Area Re-entry for Multi-UAV Search in Unknown Environment

DU Ji-yong1, ZHANG Feng-ming2, MAO Hong-bao3, YANG Ji1, ZHANG Chao1

1. College of Equipment Management and Security Engineering, Air Force Engineering University, Xi’an 710051,
China
2. Department of Training, Air Force Engineering University, Xi’an 710051, China
3. College of Aeronautics and Astronautics Engineering, Air Force Engineering University, Xi’an 710038, China

Received:2011-12-18 Revised:2012-06-24 Online:2013-05-28 Published:2012-06-24

摘要/Abstract

摘要： 针对未知环境下多无人机(unmanned aerial vehicles, UAV)协同搜索问题展开研究，通过网格化的环境规则描述，给出了UAV的运动规则及UAV系统的预测模型. 考虑实际战术需求，建立了满足UAV机动性能约束的区域再次进入数学模型，给出了最短再入路径的求解方法. 引入了“伸缩式”协同搜索机制，增加对未知环境的
适应性，同时设计了系统的全局信息库，从而充分利用UAV实时探测的环境信息，实施在线滚动规划. 通过仿真验证了方法的有效性.

关键词: 无人机, 未知环境, 协同搜索, 区域再入模型, 最短再入路径

Abstract: This paper addresses a cooperative search problem where a team of unmanned aerial vehicles (UAVs) seeks to reduce uncertainty in an unknown environment. The gird-based representation of search environment is established, and a UAV dynamic model and a predictive model of UAV systems are presented.Taking into account the practical tactical requirements, an area re-enter model is formulated, considering some maneuverability constraints. The corresponding shortest re-enter path is formulated. We develop a cooperative search strategy based on “retractable” mechanism, which can enhance adaptability to unknown environments. We also propose a global information base to make full use of the real-time local environmental information
detected by the UAVs, and generate the search path on-line in a rolling style. Simulation results are presented to demonstrate the main feature of the proposed method.

Key words: unmanned aerial vehicle (UAV), unknown environment, cooperative search, area re-enter model,
shortest re-enter path

中图分类号:

TP18

杜继永1，张凤鸣2，毛红保3，杨骥1，张超1. 未知环境下多UAV搜索的区域再入[J]. 应用科学学报, 2013, 31(3): 315-320.

DU Ji-yong1, ZHANG Feng-ming2, MAO Hong-bao3, YANG Ji1, ZHANG Chao1. Area Re-entry for Multi-UAV Search in Unknown Environment[J]. Journal of Applied Sciences, 2013, 31(3): 315-320.

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未知环境下多UAV搜索的区域再入

Area Re-entry for Multi-UAV Search in Unknown Environment

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