异构无人系统集群自主协同关键技术综述  

Review on Key Technologies of Autonomous Collaboration in Heterogeneous Unmanned System Cluster

作　　者：董昭荣 赵民 姜利 王智 DONG Zhaorong;ZHAO Min;JIANG Li;WANG Zhi(Beijing Institute of Aerospace Systems Engineering,Beijing 100076,China)

机构地区：[1]北京宇航系统工程研究所,北京100076

出　　处：《遥测遥控》2024年第4期1-11,共11页Journal of Telemetry,Tracking and Command

基　　金：国家自然青年基金项目(12302044)。

摘　　要：本文给出了国内外异构协同项目实例及已经出现的异构集群形式,并综合文献资料给出了异构集群的定义。将同构多无人系统协同任务过程中的关键技术分为协同网络通信、协同决策与规划技术、协同编队控制技术和协同末制导技术,对每个关键技术进展做了总结概括,给出了异构集群相比同构集群的技术差异。在此基础上提出了任务前规划和协同博弈制导两个技术领域,提出了针对异构集群的分组配比问题,介绍了场景建模和双层优化模型求解技术的发展现状;针对多体对抗问题给出了微分对策理论需要解决的问题。最后对异构集群协同技术所面临的难点作出总结,并对该研究领域的未来发展作出展望。The examples of foreign heterogeneous cooperative weapons projects and the forms of heterogeneous clusters are provided,and the definition of heterogeneous cluster is given based on the literature.Based on the process of multi-agent coopera‐tive warfare,four key areas of cooperative technology are summarized,including cooperative network communication technology,cooperative decision and planning technology,cooperative formation control technology,and cooperative terminal guidance technol‐ogy.The key technologies in each area are summarized,and the technical differences between a heterogeneous cluster and a homoge‐neous cluster are given.On this basis,two technical areas are proposed,including pre-task planning and cooperative game penetra‐tion guidance.The grouping and proportioning problem for heterogeneous cluster warfare is proposed,and the development status of scene modeling and bi-level optimization model solving technology is introduced.For the multi-agent confrontation problem,the is‐sues of using differential game theory are discussed.Finally,the difficulties faced by heterogeneous cluster cooperative technology are summarized,and the future development of this research field is prospected.

关 键 词：异构集群 协同控制 协同决策规划 协同制导 协同博弈 

分 类 号：V448.21[航空宇航科学与技术—飞行器设计]