基于空中投放平台的无人机集群区域侦察策略

The area reconnaissance strategy for UAV swarm based on aerial delivery platform

区域侦察是无人机集群重要作战应用之一。针对基于远程空投方式的无人机集群,在任务截止时间内对指定区域进行侦察的航线优化设计问题,提出了一种分块栅格化自规划航线生成策略。利用任务列表集合描述侦察活动进展,并从侦察时间消耗和侦察区域最终占比的角度设计了侦察效果评估指数;通过优化投放点的布设以及动态分割任务区域的方式,使分配给各架无人机的搜索区域大小接近相等;利用邻接栅格可分类特征构建无人机飞行路径步进决策机制,确保逐步生成的侦察航线可自动规避已有路径和区域边界;通过设置距离和能量优势竞争规则为侦察进度较快的无人机增配额外任务量,从而保证了各架无人机最终完成侦察任务的时间相近且无效搜索面积接近于零。

Regional reconnaissance is one of the most important combat applications of UAV swarm.Aiming at the route optimization design problem of UAV swarm,which relies on remote airdrop and is required to reconnoiter the designated area within the mission cut-off time,this paper proposes a block-grid self-planning route generation strategy.A task list set is designed to describe the progress of reconnaissance activities,and the reconnaissance effect evaluation index is constructed from the perspective of reconnaissance time consumption and the final proportion of reconnaissance area.By optimizing the placement of delivery points and dynamically dividing the task area,the size of the search area allocated to each UAV is nearly equal.The classification feature of adjacent grids is used to design a step-by-step decision-making mechanism for UAV flight path,which can ensure that the gradually generated reconnaissance route can automatically avoid the existing path and regional boundary.By making the distance and energy advantage competition rules,the UAVs that have faster reconnaissance progress are allocated with additional tasks.Thus,the actual time consumption for each UAV to complete the reconnaissance task is almost consistent and the invalid search area is close to zero.