单侧区域分割的多无人机扫描线搜索方法研究  

Research on Scanning Line Search Method for Multi-UAV Based on Unilateral Region Segmentation

作　　者：谢朋志 魏晨[1] Xie Pengzhi;Wei Chen(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《航空兵器》2020年第3期67-72,共6页Aero Weaponry

基　　金：国家自然科学基金项目(91648205);航空科学基金项目(20185851022)。

摘　　要：本文针对区域覆盖任务需求对多无人机搜索问题展开研究。首先,提出一种任意搜索区域的等面积单侧区域分割方法(Unilateral Region Segmentation)。然后,每个搜索区域分派一架或一个编队的无人机进行扫描线搜索,再基于人工势场法来规避障碍物或者威胁从而获得搜索路径。最后,进行仿真分析,验证了该算法在不同情况下的有效性、鲁棒性以及适应性。该算法在面向任意搜索区域、考虑无人机机动性以及存在威胁等问题时具有明显优势。Aiming at the requirement of area coverage task,the multi-UAV scanning line search task is researched.Firstly,an unilateral region segmentation for equal area(URSEA)method for arbitrary search region is proposed.Each search area is assigned one or a group of UAVs for scanning line search,and then obstacles or threats are evaded based on the artificial potential field method to obtain the search path.Finally,simulation analysis is carried out to verify the effectiveness,robustness and adaptability of the algorithm in different situations.The algorithm has obvious advantages when facing arbitrary search area,considering UAV maneuverability and threat.

关 键 词：多无人机 任意搜索区域 区域分割 扫描线搜索 人工势场法 路径规划 

分 类 号：V279[航空宇航科学与技术—飞行器设计]