基于随机策略的无人机巡逻路径规划  

UAV Patrolling Based on Stochastic Strategy

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：《复旦学报（自然科学版）》2011年第6期787-791,共5页Journal of Fudan University：Natural Science

摘　　要：多无人机协同巡逻是多无人机协同控制的重要内容之一.在敌对情况下固定周期性的巡逻路径容易被敌方预测到而失去巡逻效果.提出了一种以随机策略为基础的巡逻路径的规划方法,实现了敌对环境下分布式的多无人机协同巡逻.用仿真算例研究了算法的性能.Multiple Unmanned Aerial Vehicles （UAVs） cooperative patroling is an important research area in cooperative control. In the presence of an adversary trying to penetrate the area, an efficient patrolling path requires enough unpredictability in order to prevent the intruder to predict the schedule. An algorithm of stochastic path planning is presented to achieve cooperative patrol in adversarial environments. Computer simulations show the performance of this strategy.

关 键 词：无人机 巡逻 随机系统 协同控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]