面向复杂障碍环境的多机协同侦察任务规划

Mission Planning of Cooperative Reconnaissance for Multiple UAVs in Complex Environment with Obstacles

针对复杂障碍环境下的多机协同侦察任务规划问题开展研究。首先,针对不同侦察任务需求,构建传感器探测、有效持续侦察时间、复杂多边形障碍等数学模型;随后,综合考虑持续侦察时间和障碍规避约束,提出了一种面向复杂障碍环境的多机协同侦察规划分层求解方法,通过分层细化有效降低多机协同侦察问题的求解复杂度;最后,考虑无人机运动学约束,提出了一种基于贪心策略的启发式路径规划算法,能够在规避障碍物的同时获得尽可能短的可行路径。仿真结果证明了提出算法的有效性。

This paper focuses on mission planning of cooperative reconnaissance for multiple UAVs in complex environment with obstacles.Firstly,several models of sensor detection,duration time of effective reconnaissance and complex polygonal obstacles are formulated respectively for different reconnaissance missions.Secondly,a two-stage framework for mission planning of multi-UAV cooperative reconnaissance in complex environment with polygonal obstacles is established by comprehensively considering the constraints of reconnaissance duration time and obstacle avoidance.The two-stage solution effectively reduces the complexity of solving the cooperative reconnaissance problem.Finally,considering the UAV kinematic constraint,a heuristic path planning algorithm based on the greedy strategy is designed,which can obtain a flying path that is as short as possible while avoiding the polygonal obstacles at the same time.The simulation results demonstrate the effectiveness of the proposed algorithm.