Multiple UAVs/UGVs heterogeneous coordinated technique based on Receding Horizon Control (RHC) and velocity vector control  

作　　者：DUAN HaiBin ZHANG YunPeng LIU SenQi 

机构地区：[1]State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Beijing 100191,China [2]Science and Technology on Aircraft Control Laboratory,School of Automation Science and Electrical Engineering,Beihang University, Beijing 100191,China

出　　处：《Science China(Technological Sciences)》2011年第4期869-876,共8页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant Nos. 60975072 and 60604009);Aeronautical Science Foundation of China (Grant No. 2008ZC01006);Program for New Century Excellent Talents in University of China (Grant No. NCET-10-0021);the Fundamental Research Funds for the Central Universities of China (Grant No. YWF-10-01-A18);Beijing NOVA Program Foundation (Grant No. 2007A017);open Fund of the State Key Laboratory of Virtual Reality Technology and Systems;Open Fund of the Provincial Key Laboratory for Information Processing Technology, Suzhou University, China (Grant No. KJS1020)

摘　　要：Multiple unmanned air vehicles(UAVs)/unmanned ground vehicles(UGVs) heterogeneous cooperation provides a new breakthrough for the effective application of UAV and UGV.On the basis of introduction of UAV/UGV mathematical model,the characteristics of heterogeneous flocking is analyzed in detail.Two key issues are considered in multi-UGV subgroups,which are Reynolds Rule and Virtual Leader(VL).Receding Horizon Control(RHC) with Particle Swarm Optimization(PSO) is proposed for multiple UGVs flocking,and velocity vector control approach is adopted for multiple UAVs flocking.Then,multiple UAVs and UGVs heterogeneous tracking can be achieved by these two approaches.The feasibility and effectiveness of our proposed method are verified by comparative experiments with artificial potential field method.

关 键 词：unmanned air vehicle （UAV） unmanned ground vehicle （UGV） Receding Horizon Control （RHC） Particle Swarm Optimization （PSO） velocity vector control 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TM343[自动化与计算机技术—控制科学与工程]