基于分布式控制的多无人机协作喷洒技术  

Collaborative spraying technology of multiple-UAVs based on distributed control

作　　者：张艺龄 张正华[1] 肖胜川 胡林宇 李斌[1] ZHANG Yi-ling;ZHANG Zheng-hua;XIAO Sheng-chuan;HU Lin-yu;LI Bin(School of Information Engineering(School of Artificial Intelligence),Yangzhou University,Yangzhou 225127,Jiangsu Province,China)

机构地区：[1]扬州大学信息工程学院(人工智能学院),江苏扬州225127

出　　处：《信息技术》2024年第4期59-63,69,共6页Information Technology

基　　金：扬州大学学科特区学科交叉课题(yzuxk202008);江苏省大学生创新创业训练计划项目(X20210406)。

摘　　要：针对现有的多无人机协同中航迹规划难、造成喷洒重叠遗漏等问题,文中研究了一种优化航迹的多无人机协同精准喷洒关键技术。建立四旋翼植保无人机的动力学模型,进行动态规划算法下的模拟实验。将无人机的作业能耗和非作业能耗、药液容量、路径长度作为约束条件,尽量减少转弯次数来优化航迹。该无人机集群采用分布式结构,利用了基于节点类型的贝叶斯联盟博弈算法,来对无人机联盟结构进行动态调整,达到航迹的优化目的。该方法已成功地应用于多无人机协同精准喷洒作业中,实验验证了该方法对航迹优化的有效性。To solve the existing problems of difficult trajectory planning and overlapping and missing spraying in multi-UAV cooperation,this paper studys a key technology for more optimized trajectory for multi-UAV Collaborative precision spraying operations.A dynamics model of the four-rotor plant protective UAV is established and simulations are carried out under dynamic planning algorithms.The operational and non-operational energy consumption,liquid capacity and path length of the UAVs are used as constraints to optimize the trajectory by minimizing the number of turns.The UAV cluster has a distributed structure and a Bayesian coalition game algorithm based on node types is utilized to dynamically adjust this UAV coalition structure for the purpose of trajectory optimization.The method has been successfully applied to a multi-UAV collaborative precision spraying operation and experiments have verified the effectiveness of the method for aerial aircraft optimization.

关 键 词：四旋翼植保无人机 精准喷洒技术 分布式结构 动态规划算法 贝叶斯联盟博弈算法 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]