通信带宽受限条件下的无人机集群协同搜索

Cooperative Search of UAV Swarm Under Limited Communication Bandwidth

针对通信带宽受限下的无人机集群协同搜索问题,考虑了战场环境中存在威胁区的情况,提出了一种分布式多无人机意图交互的优化搜索算法。首先,基于设计的环境态势感知图,建立了环境状态空间模型以及更新方法;其次,定义了多步长下的搜索回报函数,得到各无人机的决策意图;然后,设计了融合更新算子以及带宽受限下的动态通信拓扑,实现了多无人机之间的意图交互;最后,在获取其他无人机意图的基础上进行再决策。仿真结果表明,所提算法能够在通信带宽受限情况下,完成多无人机对任务区域的协同覆盖搜索任务,并实现了对威胁区域的规避。

Aiming at the cooperative search problem of UAV swarm under limited communication bandwidth and considering the existence of threat areas in the battlefield environment an optimized search algorithm for distributed multi-UAV intention interaction is proposed.Firstly based on the designed environmental situation map the environment state model and the update method are built.Secondly the search reward function under multiple step sizes is defined to obtain the decision-making intention of each UAV.Then the fusion update operator and the dynamic communication topology under limited bandwidth are designed to realize the intention interaction among multiple UAVs.Finally decision-making is conducted on the basis of obtaining the intentions of other UAVs.The simulation results show that the proposed algorithm can complete the full-coverage cooperative search task of multiple UAVs under the condition of limited communication bandwidth and realize the avoidance of the threat areas.