面向目标定位的多无人机自组织方法研究  

Research on Self-organization Method of Target Oriented Multi-UAV

作　　者：陈国春 毛新军[1,2] 杨硕[1,2] 沈宇婷 赵伟伟 张少波 CHEN Guo-chun;MAO Xin-jun;YANG Shuo;SHEN Yu-ting;ZHAO Wei-wei;ZHANG Shao-bo(School of Computer Science,National University of Defense Technology;Key Laboratory of Complex Systems Software Engineering,National University of Defense Technology,Changsha 410073,China;National Space Science Center,Chinese Academy of Sciences,Beijing 100190,China;University of Chinese Academy of Sciences,Beijing 100039,China;The 54th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang 050000,China;School of Computer Science and Engineering,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]国防科技大学计算机学院 [2]国防科技大学复杂系统软件工程重点实验室,湖南长沙410073 [3]中国科学院国家空间科学中心,北京100190 [4]中国科学院大学,北京100039 [5]中国电子科技集团公司第五十四研究所,河北石家庄050000 [6]湖南科技大学计算机科学与工程学院,湖南湘潭411201

出　　处：《软件导刊》2021年第6期39-44,共6页Software Guide

摘　　要：协同目标定位要求无人机群在限定时间内形成特定的空间结构,如何快速形成符合任务要求的空间结构成为当前研究面临的挑战之一。针对该问题,将无人机群抽象为一个发散式的多智能体系统,提出多智能体的自组织协同方法。该方法采用三边极差收敛算法,以减小不同无人机到目标点距离的差值,快速形成各无人机到目标点距离相等的空间结构。将多智能体模型应用于初始位置随机的无人机群,分别使用自组织协同方法和Leader-Follower方法构建满足任务需求的空间结构,并重复该对比实验30次。实验结果表明,相比Leader-Follower方法,协同自组织方法使得无人机系统定位目标所需的最大飞行距离减少了13.34%,有效提升了无人机群空间结构的形成效率。Collaborative target locating requires the unmanned aerial vehicles(UAV)group to form a specific space structure within a limited time. How to quickly form a space structure that meets the mission requirements has become one of the challenges facing the current research. To solve this problem,this paper abstracts UAVs into a divergent multi-agent system and proposes a self-organizing multi-agent cooperative method. In this method,a three-side range convergence algorithm is adopted to reduce the difference in signal strength between UAVs and to quickly form a spatial structure with equal distance between UAVs and target points. The multi-agent model was applied to the UAV group with random initial position. The self-organizing collaboration method and Leader-Follower method were respectively used to form the spatial structure satisfying the task requirements,and the comparative experiment was repeated for 30 times. The experimental results show that the self-organization method proposed in this paper reduces the number of flight decisions by 13.34% and improves the efficiency of UAV swarm space structure formation effectively.

关 键 词：目标定位 多无人机协同 多智能体建模 自组织系统 三边极差收敛算法 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]