水下无人系统学报2024，Vol.32Issue(2)：237-249,13.DOI:10.11993/j.issn.2096-3920.2024-0037
基于空海异构无人平台的水下目标搜索与跟踪
Underwater Target Search and Tracking Based on Air-Sea Heterogeneous Unmanned Platform
摘要
Abstract
The marine heterogeneous unmanned systems can effectively enhance the implementation efficiency of complex missions.In this paper,autonomous undersea vehicles(AUVs)and unmanned aerial vehicles(UAVs)were used for searching and tracking unknown underwater targets in offshore waters.First,the underwater target search and tracking mission was described,and the mission was divided into two stages:target search and target tracking,with the objectives of maximizing the total search space of the AUV&UAV system and minimizing the end position error between the AUV and the underwater target,respectively.Then,a cross-domain collaborative search model of the AUV&UAV system was established,and constraints such as detection range and communication distance for AUVs and UAVs in the model were set.Finally,based on the traditional particle swarm optimization algorithm,an adaptive learning factor regulation strategy and an elite preservation strategy were employed for cross-domain collaborative search and tracking path planning,and search and tracking paths were generated.The simulation experiment demonstrates that the heterogeneous AUV&UAV system based on an improved particle swarm optimization algorithm can more efficiently search and track underwater targets.关键词
跨域无人系统/自主水下航行器/无人机/改进粒子群优化算法Key words
cross-domain unmanned system/autonomous undersea vehicle/unmanned aerial vehicle/improved particle swarm optimization algorithm分类
军事科技引用本文复制引用
丁文俊,柴亚军,杨宇贤,刘佳敏,毛昭勇..基于空海异构无人平台的水下目标搜索与跟踪[J].水下无人系统学报,2024,32(2):237-249,13.基金项目
国家自然科学基金项目(51909206) （51909206）
中国博士后科学基金项目(2021M692616) （2021M692616）
陕西省自然科学基础研究计划项目(2024JC-YBMS-300) （2024JC-YBMS-300）
中央高校基本科研业务费专项资金项目(31020200QD044). （31020200QD044）
