空地协同效能反馈的无人车目标捕获策略研究

Research on Target Acquisition Strategy of Unmanned Ground Vehicle Based on Efficiency Feedback in Air-ground Cooperation

针对无人车光电设备对复杂环境下目标搜索捕获存在时间长、效率低等局限性问题,提出了基于空地协同效能反馈机制的无人车目标捕获方案,研究了基于效能反馈机制的改进贝叶斯理论捕获策略,基于无人车一定装备数量条件下,根据无人机协同搜索的信息,以时空覆盖率和满足目标信息准确率为反馈条件,动态闭环更新目标搜索捕获策略。仿真结果表明,该算法有效缩短了无人车对目标的搜索捕获时间,提高了搜索捕获效率。

Aiming at the limitations of long time and low efficiency of target search and acquisition in complex environment by unmanned ground vehicle(UGV)photoelectric device,UGV target acquisition scheme based on air-ground cooperative efficiency feedback mechanism is proposed,based on the Bayesian theory how to improve the efficiency feedback mechanism of capture strategy is studied,based on the certain number of UGV,according to the information from unmanned aerial vehicle(UAV)cooperative search taking the spatial-temporal coverage rate and meeting with the demand of target information correctness as feedback conditions,dynamic closed loop target updating search and acquisition strategy is used.The simulation results show that the algorithm can effectively shorten the UGA search and acquisition time on targets and can improve the efficiency of UGV search and acquisition.