切换式多无人机协同目标追踪策略

SWITCHED TARGET TRACKING STRATEGYBASED ON MULTI-UAV COOPERATIVE CONTROL

针对现有的追踪策略在保持网络拓扑连通性和捕获目标成功率方面的不足,提出一种切换式目标追踪策略(STS)。考虑实际中只有部分无人机节点可以探测到目标的情况,通过卡尔曼一致性滤波获得对目标的最优估计;根据无人机与目标之间的距离变化,设置不同的运动方程;通过Lyapunov方法进行理论分析。仿真实验表明,该策略在目标运动轨迹单一的情况下,成功率达到98%,在考虑目标存在逃逸行为的情况下,成功率为95%,且追踪过程中始终保持网络的连通性和避免无人机之间发生碰撞。

Aimed at the shortcomings of existing tracking strategies in maintaining network topology connectivity and target capture efficiency,a switch target tracking strategy(STS)based on multi-UAV cooperative control is proposed.Considering the fact that only part of the UAV nodes in the dynamic network composed of multi-UAV could detect target,the optimal target estimation was obtained through Kalman consistency filtering.Different motion equations were set up according to the distance between the UAV and the target.Theoretical analysis was conducted by Lyapunov method.Simulation experiments show that the proposed tracking strategy has a success rate of 98%when the target motion trajectory is single,and when the target has the trajectory to escape,the success rate is 95%.The network connectivity and collision-avoiding of the multi-UAV system are always keeping in the process of tracking.