摘要
针对运动多目标环绕跟踪问题,提出一种基于动态域等值线的目标环绕跟踪方法,实现了较好的跟踪效果。首先,通过人工建造的距离测量等值线标量场构建动态多目标的环绕飞行跟踪路径,并利用当前位置值的逐点访问,获得该动态未知标量场的等值线;其次,对该等值线跟踪路径进行跟踪控制策略设计,相对于传统磁场梯度跟踪方式优点是无需任何字段衍生工具,并给出跟踪过程的收敛性证明。最后,给出所提算法严格的收敛性理论证明,并通过实验室模拟对算法有效性进行了验证,获得较好的动态跟踪效果。
Aiming at the problem of moving multi-target tracking,a new method based on dynamic contour is proposed.Firstly,the dynamic multi-target surround tracking path is constructed by the scalar distance field constructed by the distance measurement,and the contour of the dynamic unknown scalar field is obtained by using the point-by-point access of the current position value.Secondly,the tracking control strategy is designed,which is better than the traditional magnetic field gradient tracking method without any field derivative,and the proof of convergence can be given.Finally,the theory of the convergence of the proposed algorithm is proved,and the effectiveness of the algorithm is verified by the simulation in the laboratory.
作者
覃运初
罗富贵
QIN Yun-chu;LUO Fu-gui(College of Computer and Information Engineering,Hechi University,Yizhou 546300,China)
出处
《控制工程》
CSCD
北大核心
2020年第3期520-525,共6页
Control Engineering of China
基金
广西教育厅科研项目(YB2014325)。
关键词
动态域
等值线
多目标
环绕跟踪
标量场
Dynamic domain
contour
multi-objective
surround tracking
scalar field
