通信距离受限条件下的无人机集群协同区域搜索

针对通信距离受限条件下的无人机(unmanned aerial vehicle, UAV)集群协同搜索任务, 考虑防相撞约束, 定制了一种能够在搜索过程中根据机间距离切换交互方法的UAV交互决策机制, 实现了动态环境中的搜索航迹规划。首先, 运用栅格化方法建立包含3种属性的环境认知地图对任务区域进行表征。其次, 考虑多种搜索任务需求, 以最大化搜索效率为目标建立UAV集群协同搜索模型。然后, 根据机间有效通信距离定义了UAV协同搜索过程中的通信状态, 设计了一种能够在通信完全有效、局部有效以及完全失效3种典型场景下切换信息交互方法的信息交互与决策机制。最后, 采用滚动时域优化方法, 实现集群各成员的自主决策与交互行为。仿真结果表明, 所提算法能够在通信距离受限条件下有效完成协同搜索任务, 在完成覆盖搜索任务时能够有效兼顾对动目标的搜索。

Cooperative region search of UAV swarm with limited communication distance

For the cooperative search task of unmanned aerial vehicle(UAV) cluster under the condition of limited communication distance, considering the anti-collision constraint, a UAV interactive decision-making mechanism which can switch the interactive method according to the distance between UAVs in the search process is customized, and the search track planning in the dynamic environment is realized. Firstly, the grid method is used to establish an environmental cognitive map containing three attributes to represent the task area. Secondly, considering the requirements of multiple search tasks, a cooperative search model of UAV cluster is established to maximize the search efficiency. Then, according to the effective communication distance between UAVs, the communication state in the process of UAV cooperative search is defined, and an information interaction and decision-making mechanism is designed, which can switch information interaction methods in three typical scenarios: fully effective, partially effective and completely ineffective communication. Finally, the rolling time domain optimization method is used to realize the autonomous decision-making and interactive behavior of cluster members. Simulation results show that the proposed algorithm can effectively complete the cooperative search task under the condition of limited communication distance, and can effectively take into account the search of moving targets when completing the coverage search task.