考虑信息延迟的无人机分布式协同搜索算法  

An Cooperative Search Algorithm for Multi-UAV with Time-Delays

作　　者：曹攀峰[1] 崔升[1] 

机构地区：[1]复旦大学力学与工程科学系,上海200433

出　　处：《电光与控制》2010年第3期27-29,34,共4页Electronics Optics & Control

摘　　要：多无人机协同搜索是多无人机协同控制的重要内容之一,无人机协同搜索的两大问题是通讯延迟和分布式的计算环境。各无人机既要提高搜索效率又要避免碰撞。提出了一种以分布式模型预测算法为基础的搜索算法。通过引入合适的缓冲周期,安排不同的无人机分别对未来不同的时间范围进行规划。不同无人机的搜索规划在时间上不再耦合,从而解决了多机分布式计算和通讯延迟的问题。该方法的目的是实现真实环境下的分布式协同控制。最后用仿真算例验证了算法的可行性。Multiple Unmanned Aerial Vehicles （UAV） cooperative searching is an important research area in cooperative control. There are two important problems in this area： the time delay and the decentralized computation environment. It is necessary to improve the search efficiency of each UAV while avoiding collision. This paper presents an approach based on Decentralized Model Predictive Control （DMPC） theory. Appropriate buffer circles are introduced to arrange different UAVs to plan for different time ranges. It solves the two problems by using ahead planning. By using this method the searching problem is decoupled completely. This distributed planning approach for cooperative search is illustrated by computer simulation.

关 键 词：无人机 协同搜索 时间延迟 协同控制 

分 类 号：V271[航空宇航科学与技术—飞行器设计] TP18[自动化与计算机技术—控制理论与控制工程]