摘要
由于平台之间信息和计算是高度分布的,平台的运动以及通信拓扑的变化,使得集中式协调控制结构很难实现。以最小通信量为基础的分散协同控制具有可扩展性、异构性和动态可重构性等特点,可靠性和鲁棒性较好。提出了集中和分散相结合的多平台协同控制系统结构,集中控制主要实施任务分配、通信管理以及编队管理,而平台之间则可在有限通信基础上实施分散化的局部规划、协调与控制,研究了多平台协同任务管理、规划与控制等主要关键技术。并以多平台协同多目标跟踪为例,研究了信息滤波与分散化信息融合算法,以多平台对目标感知总的互信息增量作为效能指标,实现了多平台多目标最优任务分配及多平台协同感知目标信息的极大化。
The centralized coordination control is difficult to implement since the highly distributed information and computation,the vehicles motion,and the changing information networks topology.The decentralized coordination control is scalable,heterogeneous,reconfigurable,and robust.The structure of coordination control system for multiple vehicles with the characteristics of decentralized control and centralized control is proposed.The mission management system, decentralized local mission planning,decentralized coordination and control algorithms are investigated.As an example of coordinated target tracking with multiple vehicles,the algorithms of information filter and decentralized information fusion are investigated.The optimal target assignment is implemented to maximize the summation of mutual information gained by the multiple vehicles tracking on the multiple targets.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2008年第S1期503-507,共5页
Journal of System Simulation
基金
国家863(2006AA04Z260)
国家自然科学基金(60674103)
航空科学基金(2006ZC51026)资助项目
关键词
协同控制
任务管理
目标分配
信息滤波
分散协调
coordination control
mission management
target assignment
information filter
decentralized coordination
