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兵工学报  2011 

不确定环境下的多无人机协同搜索航路规划

, PP. 1337-1342

Keywords: 飞行器控制、导航技术,多无人机,协同搜索,航路规划

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Abstract:

?为解决多架无人机(UAV)在不确定环境中搜索目标的问题,根据多UAV协同搜索的基本原则,建立了多UAV协同搜索的环境模型和UAV运动模型,提出了一种满足UAV机动限制和适应数据通讯延迟的协同路径决策算法。根据先验知识将环境分为未知环境,已知环境和禁飞区,设计了搜索回报函数,引导UAV对未知环境进行搜索,对已知环境进行规避;提出了禁飞区回避决策,实现了UAV对禁飞区的完全回避。最后进行了仿真实验,并与2种非协同搜索算法的仿真结果进行了比较,结果表明,本文提出的协同搜索算法的有效性。

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