摘要
目前,国内外对完全未知环境下多无人机(UAV)区域覆盖搜索算法的研究中,常用的搜索样式主要有"Z"字形(或"之"字形)和内螺旋式两种。在考虑UAV转弯半径限制情况下,"Z"字形搜索方法需在目标区域边缘外部进行转弯,造成搜索资源的浪费;内螺旋方式则在接近区域中心时候需要过多的转弯,不利于执行搜索任务。针对两种方式的缺点,在保证区域覆盖和UAV动力学约束的基础上,按相应原则对执行搜索任务UAV编队中各UAV的转弯时机和转弯位置进行调整,对常用区域覆盖搜索方法进行了改进。理论分析和仿真结果表明,改进后的搜索方法不仅可以更高效地完成区域覆盖搜索任务,还可有效增强在部分传感器或UAV损坏情况下的编队的重构能力。
The common search patterns for cooperative coverage search methods of multiple Unmanned Aerial Vehicles（ UAVs） under unknown environment are zigzag and spiral patterns. Considering the constraints of the UAV＇s turning radius,the zigzag pattern needs to make turning out of the search area,which can result in longer total path lengths,while the spiral pattern may result in large number of turns,especially near the center of the area. Focusing on the shortcomings of these two patterns,we derived an improved search pattern based on the guarantee of area coverage and dynamic constraints of UAVs. The moments and positions of each UAV＇s turning were adjusted according to the corresponding rules.Theoretical analysis and simulation results show that,the improved method can not only work better than zigzag and spiral patterns,but also have good ability of formation reconstruction when partial sensors or UAVs are damaged.
出处
《电光与控制》
北大核心
2016年第1期80-84,共5页
Electronics Optics & Control
关键词
无人机
搜索决策
覆盖搜索
编队重构
Unmanned Aerial Vehicle（UAV）
search strategy
coverage search
formation reconstruction
