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基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策

DOI: 10.3724/SP.J.1004.2014.01391, PP. 1391-1403

Keywords: 无人机,协同搜索,目标概率图,数字信息素,滚动时域控制

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Abstract:

?传统的协同搜索决策方法在目标引导和机间协同方面存在不足.研究建立了基于分布概率预测的目标概率图(Targetprobabilitymap,TPM)初始化方法和基于贝叶斯准则的目标概率图动态更新方法,形成了修正目标概率图(ModifiedTPM,MTPM)及其运算机理.考虑对任务子区域进行可控回访,定义了数字信息素图(Digitalpheromonemap,DPM),建立了数字信息素图使用方法及更新机理.设计了基于MTPM和DPM的寻优指标,建立了基于滚动时域控制的协同搜索决策方法(MTPM-DPM-RHCmethod,MDR).仿真表明:1)MTPM能有效降低对目标的虚警率和漏检率;2)DPM能有效实现对任务区域可控回访;3)MDR方法的遍历能力、重访能力和目标搜索效率均优于已有方法.

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