带通信约束的多无人机协同搜索中的目标分配

doi:10.7527/S1000-6893.2013.0501

Abstract

Abstract:

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.

Key words: multi-UAV, cooperative search, targets allocation, communication constraint, Monte Carlo method

CLC Number:

V279
TP2

FU Xiaowei, LI Jian, GAO Xiaoguang. Target Allocation in Multi-UAV Cooperative Search with Communication Constraints[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014, 35(5): 1347-1356.

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Target Allocation in Multi-UAV Cooperative Search with Communication Constraints

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