面向目标跟踪的多机协同通信保持控制

Using multiple unmanned aerial vehicles to maintain continuous reliable cooperative communication in target tracking

由于无人机存在通信和测量约束的情况,远程无人机执行持续目标跟踪任务时无法直接与地面站保持通信,需要其他无人机作为通信中继方可与地面站建立可靠的通信连接.基于Dubins曲线,采用最小转弯半径和航向调整相结合的方法对具有初始和终止航向角约束的多无人机进行协同航路规划,确保所有无人机同时到达指定位置,形成多机协同通信保持的初始构型.针对随机移动目标,在多机协同通信保持的动态过程中,考虑平台性能、通信约束、碰撞规避等约束条件,采用非线性模型预测控制(NMPC)实现无人机协同分布式在线优化.在确保无人机通信中继保持的前提下,有效提高了算法的实时性.仿真结果表明了该算法的有效性.

Because of the communication and measurement constraints, when performing persistent target tracking, unmanned aerial vehicles（UAVs） require a reliable airborne communication relay established by other UAVs to communicate with the base station. For the purpose of forming the initial airborne communication relay chain, a novel method for cooperative path planning is proposed to ensure simultaneous arrival of multiple unmanned aerial vehicles（UAVs） with initial and terminal course angle constraints, which is realized by adopting the minimum turning radius of Dubins curves and appropriately adjusting the course angle. For the random moving target, establishing continuous reliable communication relay chain is implemented by using distributed nonlinear model predictive control（NMPC）, considering the constraints of UAVs dynamics, communication constraints, collision avoidance and so on. Simulation results demonstrate the effectiveness of the proposed method.