摘要
针对多无人机在局部信息条件下的动态多目标覆盖与连通保持问题,在考虑无人机的目标覆盖能力和目标类型的因素下,提出了一种基于分布式协商的多无人机目标覆盖与连通保持算法.设计了基于无人机覆盖能力的目标分组方法,将单架无人机所能覆盖的目标分为一组并视为一个目标,以实现一对一的目标覆盖.基于共识的拍卖算法设计了目标拍卖规则,用于更新无人机的目标列表.通过设计协商一致与连通保持机制,实现连通约束下的分布式协商目标优化分配.通过仿真验证了算法在不同参数配置下均表现出优越的协同覆盖性能.
Aiming at the problem of dynamic multi-target coverage and communication maintenance for multiple unmanned aerial vehicles(UAVs)with the local information,an algorithm for multi-UAV target coverage and connectivity maintenance based on distributed negotiation is proposed.The algorithm considers the target coverage capability of UAVs and different target types.Firstly,a target grouping method based on the coverage capability of UAVs is designed.The targets that a single UAV can cover are grouped and regarded as one target to achieve one-to-one target coverage.Secondly,based on the consensus-based auction algorithm,target auction rules are designed to update the list of targets for UAVs.Then,a consensus and connectivity maintenance mechanism is designed to achieve the optimal allocation of goals for distributed negotiation under connectivity constraints.Finally,comprehensive simulations are performed to verify the coverage performances of proposed algorithm in different environments.
作者
陶忠良
蒲志强
王乐乐
付清旭
耿虎军
TAO Zhongliang;PU Zhiqiang;WANG Lele;FU Qingxu;GENG Hujun(School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China;Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;The 54th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang Hebei 050080,China)
出处
《指挥与控制学报》
CSCD
2022年第2期160-168,共9页
Journal of Command and Control
基金
国家自然科学基金面上项目(62073323,61806199)
中国科学院战略性先导研究项目(XDA27030204)
中国科学院对外合作重点项目(173211KYSB20200002)资助。
关键词
多无人机
多目标覆盖
连通保持
分布式协商
multi-UAV
multi-target coverage
connectivity maintenance
distributed negotiation
作者简介
陶忠良(1996-),男,硕士研究生,主要研究方向为群体智能和机器人协同控制;通信作者:蒲志强(1987-),男,博士,研究员,主要研究方向为群体智能和强化学习.E-mail:zhiqiang.pu@ia.ac.cn;王乐乐(1994-),男,博士研究生,主要研究方向为群体智能和路径规划;付清旭(1996-),男,博士研究生,主要研究方向为群体智能和多智能体强化学习;耿虎军(1971-),男,硕士,研究员,主要研究方向为智能网络通信.
