摘要
针对感知范围受限情况下无人机集群对多目标探测跟踪效率低的问题,提出了一种基于克隆选择-传染免疫模型的无人机集群探测与跟踪方法。将病毒传染过程引入无人机集群信息传输中,构建无人机决策激活机制,确保集群资源的有效调度;通过引入克隆选择过程,构建无人机策略决策机制,保证无人机进行合理的策略选择;引入“过热”策略判断机制,避免同一策略被多架无人机执行,以降低遗漏目标情况的发生概率。仿真结果表明:所提方法能够有效提高集群区域探测覆盖面积,实现对更多目标的跟踪。
Aiming at the problem of low efficiency of multi-target detection and tracking of unmanned aerial vehicle(UAV)swarms under the restricted sensing range,a detection and tracking method of UAV swarms based on the clonal selection-infection immunity model is proposed.The virus infection process is introduced into the information transmission of the UAV swarm,and the UAV decision-making activation mechanism is constructed to ensure the effective scheduling of cluster resources;the UAV strategy decision-making mechanism is constructed by introducing the clone selection process to ensure the reasonable operation of the UAV.At the same time,the"overheating"strategy judgment mechanism is introduced to prevent the same strategy from being executed by multiple drones,and to reduce the probability of missing targets.The simulation results show that the proposed method can effectively improve the detection coverage area of the cluster area and realize the tracking of more targets.
作者
周方宇
周洁
陈超波
高嵩
ZHOU Fang-yu;ZHOU Jie;CHEN Chao-bo;GAO Song(Xi'an Technological University,Shaanxi Xi'an 710021,China)
出处
《现代防御技术》
北大核心
2022年第5期93-105,共13页
Modern Defence Technology
基金
陕西省科技厅重点研发项目(2019GY-066,2021GY-067)。
关键词
无人机集群
克隆选择
传染机制
目标探测
目标跟踪
协同决策
unmanned aerial vehicle(UAV)swarm
clone selection
infection mechanism
target detection
target tracking
collaborative decision-making
作者简介
第一作者:周方宇(1998-),男,陕西扶风人。硕士生,研究方向为无人机集群分布式控制,协同围捕等。通信地址:710021陕西省西安市未央区学府中路2号,E-mail:mxzhoufangyu@163.com。
