多无人机协同搜索随机目标决策  

Cooperative search stategies of multi-UAVs for random targets

作　　者：轩永波[1] 黄长强[1] 吴文超[1] 王勇[1] 翁兴伟[1] 李望西[1] 

机构地区：[1]空军工程大学航空航天工程学院,西安710038

出　　处：《控制与决策》2013年第5期711-715,共5页Control and Decision

基　　金：空军工程大学研究生创新基金项目(2010108)

摘　　要：针对目标在空间上随机均匀分布,在时间上动态随机产生的搜索环境,提出一种基于质心V图划分(CVP)的无人机搜索决策方法对多架无人机进行搜索空间分配.首先建立了CVP数学模型,在此基础上提出了基于CVP的目标分配算法,并证明了算法的收敛性;最后进行了仿真实验,仿真结果表明所提出的CVP策略能有效进行随机目标搜索,且算法具有良好的自适应能力.The paper present search stategies based on centroidal voronoi partitions（CVP） for uninhabited aerial vehicles（UAVs） under such dynamic environments that the targets are uniformly distributed and appear randomly over time in a bounded region. Firstly, the CVP model is presented, on the basis of that, the search space division algorithm is given and the convergence of the algorithm is proved. Then the multi-UAVs search strategy under dynamic environment is designed and the effection of UAVs turning radius to algorithm performance is also considered. Finally, the simulation results show that CVP search algorithm is effective to search dynamic targets, and the algorithm has good adaptivity.

关 键 词：无人机 搜索决策 质心V图划分 动态环境 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]