摘要
频谱监视对电磁环境的频谱态势掌握至关重要.特别地,用无人机集群作为执行对象,可以提高监视效率,节省大量人力成本.本文针对频谱监视任务,设计了用于评估监视效果的评价函数,提出了一种基于人工势场的数字信息素无人机集群安全控制算法.该算法使用数字信息素矩阵来模拟电磁空间的搜索状态,并通过在集群内的个体之间建立信息素势场以实现自适应的无人机集群分布式航迹规划.周期性的采样和插值解决了未知域的优先级矩阵更新问题,引导无人机优先监视频谱热点区域.不同于已有的基于飞行概率的决策算法,本文算法充分利用了数字信息素所映射的环境信息,可以避免无人机陷入局部状态的重复搜索,适用于动态频谱环境.仿真实验表明本文的决策算法在静态和动态频谱监视场景下均能使评价函数快速收敛,达到较好的监视效果.
Spectrum monitoring is essential for the mastery of the spectrum situation of the electromagnetic environ⁃ment.In particular,using UAV clusters as execution objects can improve surveillance efficiency and save a lot of labor costs.In terms of the task of spectrum monitoring,this paper designs an evaluation function to evaluate the monitoring effect and proposes a safe UAV cluster control algorithm using artificial potential field based on digital pheromone.In the algorithm,a digital pheromone matrix is applied to simulate the search state of the surveillance space,and then the adaptive distributed trajectory plan is realized by establishing a pheromone potential field between UAVs.Periodic sampling and interpolation can update the priority matrix of unknown domains which guides the UAV to the unmonitored spectrum hot⁃spot area.In addition,unlike traditional decision-making algorithms based on probability,our algorithm makes full use of the environmental information mapped by the digital pheromone,which can avoid the repeated search of UAVs falling into the local state,and is suitable for the dynamic spectrum environment.The simulation experiment verifies that the proposed decision-making model can make the evaluation function converge quickly in both static and dynamic spectrum monitoring scenarios,and achieve a better monitoring effect.
作者
陈柯宇
杨健
张蕴霖
邵晋梁
CHEN Ke-yu;YANG Jian;ZHANG Yun-lin;SHAO Jin-liang(School of Information and Communication Engineering,University of Electronic Science and Technology of China,Chengdu,Sichuan 611731,China;Laboratory of Electromagnetic Space Cognition and Intelligent Control,Beijing 100089,China;School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu,Sichuan 611731,China)
出处
《电子学报》
EI
CAS
CSCD
北大核心
2023年第6期1541-1551,共11页
Acta Electronica Sinica
基金
国家自然科学基金(No.U19B2028)
四川省自然科学基金(No.2021YFH0042)。
关键词
频谱监视
无人机集群
数字信息素
人工势场
spectrum monitoring
unmanned aerial vehicle cluster
digital phenomenon
artificial potential
作者简介
陈柯宇,男,1999年出生,四川内江人.电子科技大学硕士研究生.主要研究方向为多智能体协同控制和信号处理.E-mail:keyu_chen@std.uestc.edu.cn;通讯作者:杨健,男,1982年出生,安徽颍上人.电磁空间认知与智能控制技术实验室研究员.主要研究方向为群体电磁博弈.E-mail:yuhengzi_8205@163.com;张蕴霖,男,1997年出生,山东青岛人.电子科技大学博士研究生.主要研究方向为多智能体协同控制.E-mail:robert1zhang@163.com;邵晋梁,男,1981年出生,山西省宁武县人.2003年获电子科技大学学士学位,2009年获电子科技大学博士学位,2013年赴澳大利亚国立大学访问一年.目前任电子科技大学教授.主要研究方向为群体智能机理分析、群体频谱智能、多智能体系统协同控制等.中国电子学会会员编号:E190035888M.E-mail:jinliangshao@126.com。
