通信距离受限下多无人机分布式协同搜索

针对无人机之间的通信距离受到限制的情况,提出了一种基于Voronoi图的分布式协同搜索策略.首先建立了环境、无人机、传感器、通信等的数学模型;然后设计了速度约束下各架无人机的控制律;在通信距离不小于两倍视场半径的情况下,给出了各架无人机利用通信距离之内的邻居信息计算各自视场范围内的Voronoi图区域及其质心的方法,并设计了通信距离受限情况下的搜索策略,给出了通信周期与采样周期不同步情况下的信息更新公式.仿真结果表明,该分布式搜索策略比贪婪搜索和随机搜索策略在降低区域不确定度上具有更快的收敛速度,可实现通信距离受限情况下的多无人机分布式协同搜索任务.

Multiple UAVs cooperative search underlimited communication range

A distributed cooperative search strategy based on Voronoi diagram for unmanned aerial vehicles (UAVs) is proposed in this paper under the limited communication range. Firstly, the models of environment, UAV, sensor and communication are established. And then the discretized control law with speed limit is designed. The distributed computation of the Voronoi cell within the sensor's range is implemented with the information of neighbors when the range of communication is at least twice that of sensor, and the cooperative search strategy is developed. The simulation results indicate that, the convergence speed of this distributed search strategy is faster than those of greedy search and random search strategy in reducing the uncertainty of the search region, and the robustness of the algorithm is good, which can achieve the multiple UAVs cooperative search under the limited communication range.