多运动目标的多无人机协同搜索追踪策略

Multi-unmanned aerial vehicles cooperative searching and tracking strategy for multiple moving targets

中文关键词  无人机  运动目标  协同搜索  航迹规划  人工势场

英文关键词  unmanned aerial vehicles (UAV)  moving targets  cooperative searching  path planning  artificial potential field method (APF)

中文摘要

      针对多无人机协同搜索追踪区域内多运动目标问题, 考虑无人机的传感器与避撞等约束和目标随机运动 等特征, 提出了以垂线搜索为基础的多无人机协同搜索追踪策略. 策略包含任务分配和航迹规划两部分. 在任务分 配部分, 设计了航道均分垂线搜索算法, 将搜索资源在区域内均匀分配, 提高协同搜索效能. 在航迹规划部分, 设计 了改进的人工势场算法, 避免发生机间碰撞, 保障飞行安全. 在典型场景下, 仿真验证了策略的有效性, 相比传统垂 线搜索方法, 本策略能在保证安全的前提下, 引导无人机群捕获更多的目标, 有效提升了多无人机协同搜索追踪的 效果.

英文摘要

      Aiming at the problem of multi-unmanned aerial vehicles (multi-UAV) cooperative search and tracking of multiple moving targets in the area, considering the constraints of the UAV sensors and collision avoidance and the characteristics of the random movement of the targets, a multi-UAV cooperative searching and tracking strategy based on the vertical search is proposed. The strategy includes two parts: task assignment and path planning. In the first part, an equallydivided course vertical line (ECVL) search arithmetic is designed, which can make the search resources evenly distributed in the area and improve the efficiency of cooperative search. In the second part, an improved artificial potential field (IAPF) method is designed to avoid collisions between multi-UAV and ensure flight safety. In a typical situation, the simulation verifies the effectiveness of the strategy. Compared with the traditional vertical search method, this strategy can guide the multi-UAV swarm to capture more targets under the premise of ensuring safety, which effectively improves the effect of multi-UAV cooperative searching and tracking.