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任务-中继无人机协同路径规划模型方法研究

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为了实现多源节点与地面控制站连续的远程通信,提出了一种基于人工势场法的中继无人机动态路径规划模型求解方法.中继簇计算模块根据密度最大值聚类对中继簇进行动态划分,并实现中继节点数量的动态调整.中继节点动态路径规划模块根据人工势场法的思想,使中继无人机根据势场合力机动到合适位置,并具有动态避障和防碰撞的能力.对构建的模型在不同任务载荷设置下独立进行仿真实验,结果表明,中继无人机能够在多源节点与GCS之间完成可靠的多跳中继,在源节点数量不大于 10 且对空威胁区的数量不大于 7 的情况下通信链路的联通率均不小于 99.83%.该方法能够有效地解决任务无人机远程通信中继的问题,为未来无人装备的发展和运用提供重要技术支撑.
Research on the Method of Collaborative Path Planning for Task-Relay Unmanned Aerial Vehicles
In order to achieve continuous remote communication between multiple source nodes and the Ground Control Station(GCS),a solution method is proposed for dynamic path planning of relay un-manned aerial vehicles based on the artificial potential field method.The relay cluster computation module is to dynamically divide the relay clusters according to the maximum density clustering,realizing the dy-namic adjustment of the number of relay nodes.The dynamic path planning module for relay nodes em-ploys in accordance with the concept of artificial potential fields,enabling the relay drones to mobilize to suitable positions based on the resultant force of the potential field while possessing dynamic obstacle a-voidance and collision prevention capabilities.The simulation experiments are conducted on the construc-ted model with different task payload settings.The results demonstrate that the relay unmanned aerial ve-hicles can reliably achieve multi-hop relaying between multiple source nodes and the GCS,with a connec-tivity rate of communication links being no less than 99.83%,the number of source nodes being no greater than 10,and the number of threat zones in the airspace being no greater than 7.

UAVpath planningcommunication relayartificial potential fieldmaximum density clustering

张国辉、张雅楠、高昂、林俊余、许奥宇

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陆军装甲兵学院,北京,100072

国防大学联合作战学院,北京,100091

93617 部队,北京,101400

93176 部队,辽宁大连,116000

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无人机 路径规划 通信中继 人工势场法 最大值密度聚类

国家自然科学基金

U21A20428

2024

空军工程大学学报
空军工程大学科研部

空军工程大学学报

CSTPCD北大核心
影响因子:0.55
ISSN:2097-1915
年,卷(期):2024.25(3)
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