AUV&UAV跨域协同搜索与跟踪路径规划

doi:10.7527/S1000-6893.2023.28471

Abstract

Abstract:

It is an important part for maintaining marine homeland security to detect unknown targets in the offshore area in time and track and identify them. Cross-domain collaborative search of unmanned platforms has been widely applied to military and civilian tasks. In this paper， Autonomous Underwater Vehicle （AUV） and Unmanned Aerial Vehicle （UAV） are used to perform the search and tracking tasks of underwater targets in offshore areas. The whole task process can be divided into two stages： target search and target tracking. The objective of the two stages is to maximize the total search space and minimize the end position error between AUV and underwater targets， respectively. Firstly， the search and tracking tasks are described， and the cross-domain collaborative search model of AUV&UAV is established. Secondly， various constraints such as navigation ability， detection distance and communication range in the cross-domain collaborative search model are set. Finally， in the cross-domain collaborative search and tracking planning， based on the improved genetic algorithm and the asynchronous planning strategy， the search and tracking paths are generated by centralized and distributed decision-making respectively. The simulation results show that the AUV&UAV cross-domain unmanned system can complete the underwater target search and tracking tasks under different conditions.

Key words: cross-domain unmanned system, UAV, AUV, improved genetic algorithm, asynchronous planning strategy

CLC Number:

V279

Wenjun DING, Yajun CHAI, Dongdong HOU, Chiyu WANG, Guozong ZHANG, Zhaoyong MAO. Path planning for AUV&UAV cross⁃domain collaborative search and tracking[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(21): 528471-528471.

Figures/Tables 14

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参数	数值	参数	数值
φ_U/（°）	0	a_Tmax/（m·s^-1）	1
v_U/（m·s^-1）	15	v_Umax/（m·s^-1）	25
φ_A/（°）	0	v_Amax/（m·s^-1）	6
v_A/（m·s^-1）	5	v_Tmax/（m·s^-1）	3
r_Umax/（rad·s^-1）	0.2	x_min/m	-5 000
a_Umax/（m·s^-1）	5	x_max/m	5 000
r_Amax/（rad·s^-1）	0.2	y_min/m	-5 000
a_Amax/（m·s^-1）	1	y_max/m	5 000
r_Tmax/（rad·s^-1）	0.2	d_U-A/m	1 500

项目	数据
探测到目标时刻/s	UAV：31；AUV：258
任务结束时刻/s	361
与目标末端位置误差/m	1.41

项目	数据
探测到目标时刻/s	AUV：60
任务结束时刻/s	112
与目标末端位置误差/m	1.23

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Path planning for AUV&UAV cross⁃domain collaborative search and tracking

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