基于动态传感器的无人机平面搜索研究
Research on Plane Search of UAVs Using Dynamic Sensors
杨浩辰 1李爱军 1郭永1
作者信息
- 1. 西北工业大学自动化学院,西安 710129
- 折叠
摘要
针对无人机平面搜索任务,本文采用动态传感器模型,研究了基于误差梯度的理论搜索策略.由于理论搜索策略存在局部最优情况,无人机在执行任务过程中会停止运动,导致搜索中断无法完成搜索任务,因此本文研究了基于理论搜索策略的改进搜索策略.采用改进搜索策略可以使平面任务区域内的所有点都被搜索且任意一点都达到期望的搜索度.在此基础上,为了减小冗余搜索度和缩短任务执行时间,本文提出了结合区域划分思想的搜索策略.最后,单无人机搜索和多无人机搜索仿真实验结果验证了本文研究的搜索策略的可行性.
Abstract
This paper studies the problem of plane search of unmanned aerial vehicles(UAVs)using dynamic sensors.A gradient-type nominal search strategy is studied.Since this strategy leads to local optimum which causes the suspension of the task,it does not guarantee to meet the goal of covering the search domain such that each point is surveyed for a certain level.A new strategy is consequently developed based on the nominal search strategy.Furthermore,a novel search strategy,taking advantage of area division,is proposed for the demand that the excessive search level and time cost are both as low as possible.Simulation results of a single UAV and multi-UAVs demonstrate the feasibility of the search strategies.
关键词
导航、制导与控制/无人机/平面搜索/动态传感器Key words
navigation,guide and control/unmanned aerial vehicle(UAV)/plane search/dynamic sensor引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据