基于最大可知度的无人机协同搜索控制方法  

A Control Method for the UAV Cooperative Searching Based on Uncertainty Value Reducing Maximization

作　　者：张立鹏 赵建辉 肖永德 

机构地区：[1]空军西安飞行学院理论训练系,西安710306

出　　处：《电光与控制》2014年第11期33-40,共8页Electronics Optics & Control

基　　金：中国航空科学基金(20101996012)

摘　　要：针对不确定环境下无人机(Unmanned Aerial Vehicles,UAVs)协同搜索问题,为实现最优化目标,分别对不确定环境、无人机平台、网络通信关系以及协同搜索探测更新建立数学模型,提出一种基于最大可知度(Uncertainty Value Reducing Maximization)的控制算法。采用该算法解决多无人机不确定环境下协同搜索问题,并证明控制算法的相关数学特性,最后从不同角度对协同搜索控制算法进行仿真。仿真结果表明,该算法不仅能够有效实现协同搜索,且能保证搜索区域覆盖性和时间优越性。The problem of Unmanned Aerial Vehicles （ UAVs ） cooperative searching in the uncertainty environment was studied.In order to realize target optimization,the models of uncertainty environment,the UAVs,network communication relationship and cooperative search/detect updating were established.A cooperative searching control method based on Uncertainty Value Reducing Maximization （ UVRM ） was presented.The problem of UAV cooperative searching in the uncertainty environment was solved by this control arithmetic,and the mathematic characteristic was proved.Simulation was made for control arithmetic of cooperative searching from different aspects.The simulation results show that the algorithm can not only implement cooperative search,but also ensure spreadability of the searching area and superiority of the searching time.

关 键 词：无人机 协同搜索 不确定环境 最大可知度 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP391[自动化与计算机技术—计算机应用技术]