中文

Journal of Applied Sciences ›› 2013, Vol. 31 ›› Issue (3): 315-320.doi: 10.3969/j.issn.0255-8297.2013.03.015

• Control and System • Previous Articles     Next Articles

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

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

  1. 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

PDF

1300

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

CLC Number: