计算机应用与软件Issue(2)：174-177,4.DOI:10.3969/j.issn.1000-386x.2015.02.044
面向不确定目标的多无人机协同搜索控制方法
COOPERATIVE SEARCH CONTROL METHOD WITH MULTI-UAVS FOR UNCERTAIN TARGETS
吴楠 1吴庆2
作者信息
- 1. 西北工业大学力学与土木建筑学院 陕西 西安 710072
- 2. 空军工程大学 陕西 西安 710038
- 折叠
摘要
Abstract
Target search is an important research subject in multiple unmanned aerial vehicles (UAVs)cooperative control area.To search an unknown area with multiple-UAVs simultaneously is for obtaining regional information and to find as much targets as possible. Aiming at the search problem in regard to uncertain targets,we study a new method of multiple-UAVs cooperative search control.We build multiple-UAVs motion model,and describe the search environment by using target existence probability,and present a Bayesian criterion-based update method for search environment.With taking the environment detection reward,target discover reward and cooperative reward into consideration,we use MPC to implement the iterative solution on multi-objective optimisation.It is proved that the new method has better search performances through comparison and analysis in simulation experiments.关键词
无人机/协同搜索/Bayesian准则/模型预测控制Key words
Unmanned aerial vehicle/Cooperative search/Bayesian criterion/Model predictive control分类
信息技术与安全科学引用本文复制引用
吴楠,吴庆..面向不确定目标的多无人机协同搜索控制方法[J].计算机应用与软件,2015,(2):174-177,4.
