基于分布式控制的多无人机协作喷洒技术
Collaborative spraying technology of multiple-UAVs based on distributed control
张艺龄 1张正华 1肖胜川 1胡林宇 1李斌1
作者信息
- 1. 扬州大学信息工程学院(人工智能学院),江苏扬州 225127
- 折叠
摘要
针对现有的多无人机协同中航迹规划难、造成喷洒重叠遗漏等问题,文中研究了一种优化航迹的多无人机协同精准喷洒关键技术.建立四旋翼植保无人机的动力学模型,进行动态规划算法下的模拟实验.将无人机的作业能耗和非作业能耗、药液容量、路径长度作为约束条件,尽量减少转弯次数来优化航迹.该无人机集群采用分布式结构,利用了基于节点类型的贝叶斯联盟博弈算法,来对无人机联盟结构进行动态调整,达到航迹的优化目的.该方法已成功地应用于多无人机协同精准喷洒作业中,实验验证了该方法对航迹优化的有效性.
Abstract
To solve the existing problems of difficult trajectory planning and overlapping and missing spra-ying in multi-UAV cooperation,this paper studys a key technology for more optimized trajectory for multi-UAV Collaborative precision spraying operations.A dynamics model of the four-rotor plant protective UAV is established and simulations are carried out under dynamic planning algorithms.The operational and non-operational energy consumption,liquid capacity and path length of the UAVs are used as constraints to opti-mize the trajectory by minimizing the number of turns.The UAV cluster has a distributed structure and a Bayesian coalition game algorithm based on node types is utilized to dynamically adjust this UAV coalition structure for the purpose of trajectory optimization.The method has been successfully applied to a multi-UAV collaborative precision spraying operation and experiments have verified the effectiveness of the method for aerial aircraft optimization.
关键词
四旋翼植保无人机/精准喷洒技术/分布式结构/动态规划算法/贝叶斯联盟博弈算法Key words
four-rotor plant protective UAV/precision spraying technology/distributed architecture/dy-namic planning/Bayesian coalition game algorithm引用本文复制引用
基金项目
扬州大学学科特区学科交叉课题(yzuxk202008)
江苏省大学生创新创业训练计划(X20210406)
出版年
2024
NETL
NSTL
万方数据