基于回访机制的无人机集群分布式协同区域搜索方法

doi:10.7527/S1000-6893.2022.27561

Abstract

Abstract:

To enable Unmanned Aerial Vehicle （UAV） swarms to search for the dynamic targets efficiently in an unknown mission area while maximizing coverage of search， this paper proposes a Revisit Mechanism-driven Distributed Cooperative Search Decision （RM-DCSD） algorithm for UAV swarms. Firstly， a comprehensive situational information map model with three attributes and its updating mechanism are constructed based on the gridding method， laying the foundation for the UAV to make real-time online search decisions. Secondly， to maximize search efficiency and take into account the flight safety and energy cost of the UAV， a UAV search effectiveness function is established. On this basis， a UAV local finite-time domain rolling optimization model is constructed based on the thought of rolling optimization. Thirdly， considering the actual search demand for moving targets as well as the false alarm and missed detection of sensors， a pheromone-guided revisit mechanism and a weight coefficient dynamic switching-guided revisit mechanism are designed respectively. Then， drawing on the thought of distributed model predictive control， a distributed cooperative search decision mechanism for UAV swarms based on information fusion is designed， which achieves decoupled update of the situational information maps of UAV members on the basis of ensuring the distributed cooperative optimal decision of swarms， and further enhances the system robustness. Finally， the effectiveness of the proposed algorithm is verified by numerical simulation experiments. The results show that RM-DCSD performs good adaptability to dynamic unknown search environments， and can effectively consider the search requirements of ground moving targets through the revisit mechanisms while enabling UAV swarms to maximize coverage of search for unknown areas.

Key words: UAV swarm, cooperative area search, revisit mechanism, distributed model predictive control, information fusion

CLC Number:

V279

Chao WEN, Wenhan DONG, XIE Wujie, Ming CAI, Ri LIU. Distributed cooperative area search method for UAV swarms based on revisit mechanism[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(11): 327561.

Figures/Tables 24

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

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Fig.8

Table 1

Initial state information of UAV swarms

UAV编号	初始位置/km	初始航向/（°）	平飞速度/（ $m ⋅ s - 1$ ）
1	（1，1）	45	100
2	（50，1）	135
3	（1，50）	$- 45$
4	（50，50）	$- 180$

Table 1

Table 2

Parameters of sensor performance

参数	$p d$	$p f$	探测范围/ $k m$
取值	0.8	0.2	$1 × 1$

Table 2

Table 3

Parameters of comprehensive situational information map

峰值中心/km	TDPM		ECM	DPM
峰值中心/km	$c n$	$σ n$	$γ$	$V a$	$G a$
（15，15）	0.020	40	0.90	0.05	0.60
（20，25）	0.010	40
（25，30）	0.015	35
（30，40）	0.020	30
（35，35）	0.025	40

Table 3

Table 4

Parameters of RM-DCSD algorithm

参数	$κ 1$	$κ 2$	$κ 3$	$κ 4$	$κ 5$	$N$
取值	0.25	0.25	0.25	0.10	0.15	3

Table 4

Fig.9

Fig.10

Fig.11

Fig.12

Table 5

Fig.13

Table 6

Fig.14

Fig.15

Fig.16

Table 7

Fig.17

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决策机制	区域覆盖率/%		动目标捕获数量
决策机制	平均值	标准差	平均值	标准差
1	94.92	1.95	2.83	1.46
2	92.28	3.15	2.52	1.52

组别	回访机制
基准组1	无
对照组2	1
对照组3	2
对照组4	1， 2

搜索方法	区域覆盖率/%	动目标捕获数量	误判率/%
光栅式扫描	95.63	0.83	12.70
并排回寻式扫描	92.21	1.60	11.53
RM-DCSD	82.24	5.40	7.56

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Distributed cooperative area search method for UAV swarms based on revisit mechanism

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