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一种基于领导-跟随策略的多无人机-多无人艇编队协同机制 被引量:2

A multi-UAVs and multi-USVs formation cooperative mechanism based on leader-follower strategy
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摘要 随着无人系统技术深入的发展,无人集群系统的海空跨域协同问题已成为当前的研究热点,本文针对海空协同下的多无人机(multi-UAVs)-多无人艇(multi-USVs)执行协同任务的前端协同航行问题,基于层次结构式领导-跟随策略开展了多无人机-多无人艇编队协同机制研究。本文首先建立了无人系统跨域集群编队运动模型,以描述跨域集群系统内各运动体的领导跟随关系;针对领航机-领航艇协同航迹规划问题,本文基于所建立的双层栅格化地图模型,建立了多约束条件下的航迹代价函数,并利用改进遗传算法进行求解;针对跨域集群编队协同运动控制问题,基于层次结构式Leader-Follower编队策略,设计了领航机-领航艇异构编队控制器与同构编队运动控制器,并利用模糊控制器对同构编队运动控制器进行了参数整定研究。最后,本文通过仿真实验验证了所设计的多无人机-多无人艇跨域集群协同机制的有效性。 As the unmanned system technology continues to advance,the issue of cross-domain cooperation in unmanned cluster systems has become a research hotspot.To address the problem of front-end cooperative navigation of multi-Unmanned Aerial Vehicles(UAVs)and multi-Unmanned Surface Vehicles(USVs)in a sea-air cooperation scenario,this paper conducts research on the multi-UAVs and multi-USVs formation cooperation mechanism based on the hierarchical leader-follower strategy.A motion model for cross-domain cluster formation is established to describe the leader-follower relationships among various entities within the cross-domain cluster system.Regarding the cooperative trajectory planning problem for the Leader-UAV and Leader-USV,a trajectory cost function considering multiple constraints is formulated based on the established double-layer grid map model.The improved genetic algorithm is employed for optimization.In the context of cross-domain cluster formation cooperative motion control,heterogeneous formation controllers for the leader-UAV and leader-USV and homogeneous formation motion controllers are designed based on the hierarchical leader-follower formation strategy.Parameter tuning is performed for the homogeneous formation motion controller using the fuzzy controller.Simulation experiments validate the effectiveness of the proposed cross-domain cooperative mechanism for multi-UAVs and multi-USVs.
作者 王振威 刘凯 郭健 刘晓鹏 WANG Zhenwei;LIU Kai;GUO Jian;LIU Xiaopeng(School of Mechanics and Aerospace Engineering,Dalian University of Technology,Dalian 116024,China;Beijing Aerospace Technology Institute,Beijing 100074,China)
出处 《航空学报》 EI CAS CSCD 北大核心 2023年第S02期453-468,共16页 Acta Aeronautica et Astronautica Sinica
基金 国家自然科学基金(U2141229)
关键词 领导-跟随策略 无人机-无人艇协同 航迹规划 编队控制 模糊控制 leader-follower strategy UAV-USV cooperation trajectory planning formation control fuzzy control
作者简介 通信作者:刘凯.E-mail:carsonliu@dlut.edu.cn
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