带通信约束的多无人机协同搜索中的目标分配
收稿日期: 2013-06-03
修回日期: 2013-12-23
网络出版日期: 2014-01-13
基金资助
航空科学基金与航空电子系统综合技术重点实验室联合资助项目（20125553030）
Target Allocation in Multi-UAV Cooperative Search with Communication Constraints
Received date: 2013-06-03
Revised date: 2013-12-23
Online published: 2014-01-13
Supported by
Science and Technology on Avionics Integration Laboratory and Aeronautical Science Foundation of China (20125553030)
为了研究通信约束对多无人机（UAV）协同搜索中目标分配任务的影响，提出了一种带通信约束的多无人机协同搜索中的目标分配方法，研究在通信约束条件下多无人机在协同搜索中如何进行目标分配。首先，基于无人机数学模型和搜索模型，建立了目标分配模型。其次，分析了通信约束条件，如通信距离限制、通信角度限制和通信时间延迟等对目标分配的影响，限定多无人机在通信距离和角度范围内才能通信，使用蒙特卡罗法来验证通信距离和角度对目标分配的影响，同时采用基于状态估计的无人机状态信息补偿方法来消除通信延迟的影响。仿真验证了带通信约束的多无人机协同搜索中的目标分配方法的合理性。
符小卫 , 李建 , 高晓光 . 带通信约束的多无人机协同搜索中的目标分配[J]. 航空学报, 2014 , 35(5) : 1347 -1356 . DOI: 10.7527/S1000-6893.2013.0501
In order to study the impact of communication constraints on targets allocation in cooperative multi-UAV search, we present a novel method of targets allocation in multi-UAV cooperative search with communication constraints. First, a targets allocation model is established based on the UAV dynamic model and cooperative search model. Second, the impact of communication constraints such as range limitation, angle limitation and time delay on targets allocation is analyzed. Restrictions are made that the UAVs can only communicate in the range of communication distance and angle, and Monte Carlo method is employed to validate the impact of communication distance and angle on targets allocation, while the UAV state information compensation method based on state estimation is used to eliminate the impact of time delay. The simulation results show the rationality and validity of this targets allocation method in multi-UAV cooperative search with communication constraints.
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