面向目标不确定的多无人机鲁棒协同搜索

Multi-UAV robust cooperative search against uncertain targets

多架无人机(unmanned aerial vehicle,UAV)协同搜索是多无人机协同的一个重要研究方向。多架UAV同时对一个未知区域进行搜索,目的就是大量获取搜索区域的信息,确定目标存在的具体位置。提出了一种基于贝叶斯理论的多UAV鲁棒协同搜索方法,首先建立搜索环境的数学模型,然后考虑到UAV传感器测量的不确定性以及环境自身的不确定性,引入鲁棒性能参数以提高系统的抗干扰性以及稳定性,最后对目标函数进行优化求解,从而引导UAV在区域中进行搜索。通过仿真结果验证了所提方法的有效性。

Multi-unmanned aerial vehicles （UAVs） cooperative search is an important research direction of UAVs cooperative control. Multi-UAVs simultaneous search an uncertain region, the objective is obtaining mass information of the searching region and the locating concrete position of targets. Multi-UAVs robust coop- erative search based on Bayesian theory is put forward. Firstly, the mathematic model of a search environment is established. Secondly, the robust performance parameters are introduced to improve the anti-interference and stability of the system because of the uncertainty of both the sensor measurement of UAVs and environment it- self. Finally, the optimization solution of the objective function is obtained so as to guide UAVs to search in a specific region. The simulation results verify the effectiveness and feasibility of the proposed method.