智能无人集群系统协同控制关键问题分析  

Analysis on key problems of cooperative control of intelligent unmanned cluster system

作　　者：马培蓓 隋江波 纪军 孟蕾 Ma Peibei;Sui Jiangbo;Ji Jun;Meng Lei(Coastal Defense Academy,Naval Aviation University,Yantai 264001,China)

机构地区：[1]海军航空大学岸防兵学院,烟台264001

出　　处：《战术导弹技术》2022年第4期124-131,共8页Tactical Missile Technology

基　　金：国家社科基金重点军事学项目(2021-SKJJ-B-012);国防科技173计划领域基金(2021-JCJQ-JJ-0526);山东省自然科学基金(ZR2019MF065)。

摘　　要：无人机集群协同控制是智能无人机集群协同作战的技术基础,在复杂的动态环境和时间敏感态势下,可实现对各种信息快速有效地获取、处理、传输以及多平台的控制。针对智能化无人集群系统协同控制的关键问题,重点分析了复杂战场环境下多无人机系统的多级分布式协同控制体系结构以及具有时空约束的协同航迹规划问题,比较了采用三种不同算法的多无人机协同航迹规划的仿真结果;分析了集群编队控制中的协同控制策略和编队队形重构等关键问题,给出了多无人机编队运动轨迹和编队构型变化轨迹的仿真结果。最后从5个方面阐述了智能无人机协同控制技术的发展。UAV cluster cooperative control is the technical basis of intelligent UAV cluster cooperative operation.Under the complex dynamic environment and time sensitive situation,it can realize the rapid and effective acquisition,processing,transmission and multi platform control of all kinds of information.Aiming at the key problems of cooperative control of intelligent unmanned cluster system,it is analyzed the multi-level distributed cooperative control architecture of multi UAV system in complex battlefield environment and the cooperative path planning problem with space-time constraints,and the simulation results of multi UAV cooperative path planning using three different algorithms are compared.The key problems of cooperative control strategy and formation reconfiguration in cluster formation control are analyzed.And the simulation results are given for the motion trajectory of multi UAV formation and formation reconstruction change.Finally,the development of intelligent UAV cooperative control technology is described from five aspects.

关 键 词：智能无人机 协同控制 体系结构 任务分配 航迹规划 编队控制 队形重构 

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]