Self-organizing strategy design and validation forintegrated air-ground detection swarm  

作　　者：Meiyan An Zhaokui Wang Yulin Zhang Meiyan An Zhaokui Wang Yulin Zhang(School of Aerospace Engineering, Tsinghua University, Beijing 100084, China Astronaut Center of China, Beijing 100193, China)

机构地区：[1]School of Aerospace Engineering,Tsinghua University,Beijing 100084,China [2]Astronaut Center of China,Beijing 100193,China

出　　处：《Journal of Systems Engineering and Electronics》2016年第5期1018-1027,共10页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(11002076);the National High Technology Research and Development Program of China(863 Program)(2014AA7041002)

摘　　要：A self-organized integrated air-ground detection swarmis tentatively applied to achieve reentry vehicle landing detection,such as searching and rescuing a manned spaceship. The detectionswarm consists of multiple unmanned aerial vehicles （UAVs）and unmanned ground vehicles （UGVs）. The UAVs can accessa detected object quickly for high mobility, while the UGVs cancomprehensively investigate the object due to the variety of carriedequipment. In addition, the integrated air-ground detectionswarm is capable of detecting from the ground and the air simultaneously.To accomplish the coordination of the UGVs andUAVs, they are all regarded as individuals of the artificial swarm.Those individuals make control decisions independently of othersbased on the self-organizing strategy. The overall requirements forthe detection swarm are analyzed, and the theoretical model ofthe self-organizing strategy based on a combined individual andenvironmental virtual function is established. The numerical investigationproves that the self-organizing strategy is suitable andscalable to control the detection swarm. To further inspect the engineeringreliability, an experiment set is established in laboratory,and the experimental demonstration shows that the self-organizingstrategy drives the detection swarm forming a close range and multiangularsurveillance configuration of a landing spot.A self-organized integrated air-ground detection swarmis tentatively applied to achieve reentry vehicle landing detection,such as searching and rescuing a manned spaceship. The detectionswarm consists of multiple unmanned aerial vehicles （UAVs）and unmanned ground vehicles （UGVs）. The UAVs can accessa detected object quickly for high mobility, while the UGVs cancomprehensively investigate the object due to the variety of carriedequipment. In addition, the integrated air-ground detectionswarm is capable of detecting from the ground and the air simultaneously.To accomplish the coordination of the UGVs andUAVs, they are all regarded as individuals of the artificial swarm.Those individuals make control decisions independently of othersbased on the self-organizing strategy. The overall requirements forthe detection swarm are analyzed, and the theoretical model ofthe self-organizing strategy based on a combined individual andenvironmental virtual function is established. The numerical investigationproves that the self-organizing strategy is suitable andscalable to control the detection swarm. To further inspect the engineeringreliability, an experiment set is established in laboratory,and the experimental demonstration shows that the self-organizingstrategy drives the detection swarm forming a close range and multiangularsurveillance configuration of a landing spot.

关 键 词：artificial swarm virtual potential field self-organizing integrated air-ground detection swarm. 

分 类 号：V279[航空宇航科学与技术—飞行器设计]