基于多重虚拟力控制的无人机覆盖编队分簇算法  

Clustering Algorithm of UAV Coverage Formation Based on Multiple Virtual Force Control

作　　者：汪镇涛 李大鹏[1] 丁良辉[2] 杨锦彬 WANG Zhentao;LI Dapeng;DING Lianghui;YANG Jinbin(School of Communications and Information Engineering,Nanjing University of Posts and Telecommunications,Nanjing Jiangsu 210003,China;Department of Electronic Engineering,Shanghai Jiao Tong University,Shanghai 201100,China)

机构地区：[1]南京邮电大学通信与信息工程学院,江苏南京210003 [2]上海交通大学电子工程系,上海201100

出　　处：《指挥与控制学报》2023年第2期204-214,共11页Journal of Command and Control

基　　金：国家自然科学基金(61801240)资助。

摘　　要：针对飞行自组网(flying ad-hoc network,FANET)在区域覆盖中的应用,提出一种基于多重虚拟力控制的三阶段编队分簇算法以同时维持高覆盖和高连通性.应用虚拟力算法,设计了基于四重虚拟力的移动控制策略来动态管理机间距离.此策略部署在被划分为3个阶段的覆盖任务中.结合此策略设计了一种编队分簇算法,解决了FANET网络管理困难的问题.通过仿真对比验证,所提算法相较于传统算法在覆盖率和连通性上更加有效实用.To support the application of flying ad-hoc network(FANET)in area coverage,a three-stage formation clustering algorithm based on multiple virtual force control is proposed to maintain high coverage and connectivity simultaneously.Through utilizing the virtual force algorithm,a movement control strategy based on quadruple virtual forces is designed to manage the inter-machine distance dynamically.This strategy is deployed in the area coverage task that is divided into three phases.This strategy is combined to design a formation and clustering algorithm and to solve the difficulty of FANET network management.By simulation comparison and verification,the proposed algorithm is more effective and practical than traditional algorithm in terms of coverage rate and connectivity.

关 键 词：无人机 区域覆盖 编队控制 分簇 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TN929.5[电子电信—通信与信息系统]