群无人机动态环境分布式持续覆盖算法

动态环境具有多变性和不确定性,为将动态环境的不确定性控制在一定范围内,需要群无人机对其进行持续覆盖以便完成感知、监视、侦察等任务.提出了一种考虑无人机飞行动力学约束的分布式协同覆盖算法,无需先验知识、无需事先进行路径规划.各无人机独立地根据局部感知和局部通信所获信息进行在线覆盖决策,使整个群无人机系统涌现出持续覆盖行为.提出的方法通信次数少,仅需邻居无人机的位置信息进行合作,且对无人机的前飞航向没有数量约束.仿真结果表明,此分布式算法可实现群无人机对动态环境的持续覆盖,算法性能稳定,具有很好的灵活性和可扩展性. 

Distributed Cooperative Control of Swarm UAVs for Dynamic Environment Persistent Coverage

In order to control the uncertainty of dynamic environment into a certain scope, it is necessary for swarm UAVs to continuously cover the environment so as to achieve some perception, watch and spy task. A distributed collaborative coverage method was proposed based on the kinematic constraints of UAV, doing without prior knowledge and advanced path planning. Each UAV made its coverage decision online only based on the information gotten from the real-time local sensing and the local communications, making the swarm UAVs have persistent coverage ability. The information needed to be exchanged was very little, and only position information needed to be exchanged within local inter-UAV communication, which made the algorithm simpler and more practical. The simulation results show that, the distributed collaborative coverage method can adapt swarm UAVs for persistent coverage to dynamic environment, the performance of the algorithm is stable, flexible and scalable.