无人机协同任务的优化方案  

The Optimized Plan for the Unmanned Aerial Vehicle Cooperative Mission

作　　者：刘馨竹[1] 唐棣[1] 刘恩[2] 罗万春[3] 

机构地区：[1]第三军医大学西南医院烧伤研究所,重庆400038 [2]第三军医大学新桥医院消化内科,重庆400037 [3]第三军医大学生物医学工程系数学与生物数学教研室,重庆400038

出　　处：《数学的实践与认识》2017年第14期33-41,共9页Mathematics in Practice and Theory

基　　金：第三军医大学教育研究立项课题(20130B08);中华医学会教育研究立项课题(2012-KY-21);军队院校数学类课程教学改革研究课题(2014)

摘　　要：研究的是多架无人机协同完成侦察、中继等作战任务的方案优化问题.对于侦查任务,首先建立了以总行进路径最短为目标的非线性0-1规划模型,求得单架加载S-1无人机无法完成任务,故又建立了以两组行进路径之和最短和组间路程差最小为目标函数的目标群分组的非线性0-1规划模型,得到最优分组方案.然后,由于S-2的扫描范围广,无需行遍所有目标点即可完成任务,故建立以扫描所有目标点为约束条件,遍历点数最少为目标的非线性0-1规划模型,求得仅需经过18个点即可完全扫描所有68个目标点.接下来,在满足S-1和S-2扫描每个目标点的时间差小于4h的前提下,得到了最优的飞行方案.对于中继任务,通过调整无人机的起飞时间,减少通过雷区的任意两架无人机的位置差异,得到仅需1架中继无人机的最优飞行方案.The purpose of this study is to get the optimal scheme in arranging the unmanned aerial vehicle in collaborative combat mission. For reconnaissance missions, firstly we establish the nonlinear 0-1 programming model with the goal of the minimum total distance, and the outcome is that single plane loaded S-1 was unable to complete the task, so we then establish another nonlinear 0-1 programming model to group the target points, with the goal of the minimum total distance and minimum distance difference between groups, then we get the optimal grouping scheme. Secondly, due to the wide scanning range of the S-2, plane could complete the task without traveling across all the target points, so we establish the nonlinear 0-1 programming model with the goal of the minimum traveling target points and with constraint condition of scanning all target points. The result is plane loaded S-2 could travel only 18 new points instead of 68 target points. Taking that each target should be scanned by both S-1 and S-2,and time lag should be less than 4 hours into consideration, we solve out the optimal flight plan. For relay task, by adjusting the time table of taking off, to reduce any two planes position distance in minefields, we finally get the optimal flight plan with only one unmanned plane for relay task.

关 键 词：无人机 非线性0-1规划 优化方案 

分 类 号：V279[航空宇航科学与技术—飞行器设计]