跨域无人集群协同反潜搜索方法研究
Research on Cross-domain Unmanned Swarm Cooperative Anti-submarine Search Method
王宁 1梁晓龙 1张佳强 1侯岳奇 1杨爱武1
作者信息
- 1. 空军工程大学 空管领航学院,陕西 西安 710051;陕西省电子信息系统综合集成重点实验室,陕西 西安 710051
- 折叠
摘要
针对海上反潜搜索问题,提出一种将无人艇作为无人机的通信中继的跨域无人集群协同搜索方法,采用数字网格地图表征任务区域,构建了跨域平台的运动学模型;提出了跨域无人系统的协作方法,设计了无人系统之间的分布式信息融合机制;设计了异构平台的搜索目标函数,引导无人系统在搜索任务中实时决策.仿真结果表明:所提方法能够有效适用于文中反潜搜索任务想定,跨域平台之间能够通过优势互补提高搜索效能.
Abstract
For the maritime ASW search,a cross-domain unmanned swarm cooperative search method is proposed in which USVs are used as the communication relay of UAVs.The digital grid map is used to characterize the mission area and the kinematic model of cross-domain platform is constructed.The cooperative method of cross-domain unmanned systems is proposed,and the distributed information fusion mechanism of unmanned systems is designed.The search objective function for heterogeneous platforms is designed to guide the unmanned systems to make real-time decisions in search task.The simulation results show that the proposed method can be effective to the proposed cross-domain unmanned swarm ASW search mission scenario,and by complementing each other,the search effectiveness of the cross-domain platforms can be improved.
关键词
反潜搜索/无人集群/航迹规划/跨域协同/信息交互Key words
anti-submarine search/unmanned swarm/track planning/cross-domain cooperative/information interaction引用本文复制引用
出版年
2024
NETL
NSTL
万方数据