首页|基于空海异构无人平台的水下目标搜索与跟踪

基于空海异构无人平台的水下目标搜索与跟踪

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  • 国家科技期刊平台
  • NETL
  • NSTL
  • 万方数据
海上异构无人系统可有效提高复杂任务的完成效率.文中采用自主水下航行器(AUV)和无人机(UAV)来完成近海海域内未知水下目标的搜索与跟踪任务.首先,描述了水下目标搜索跟踪任务,将任务过程分为目标搜索和目标跟踪阶段,2 个阶段的目标分别是使AUV&UAV总搜索空间最大化以及AUV与水下目标的末端位置误差最小;然后,建立AUV&UAV跨域协同搜索模型,并设定模型中AUV和UAV探测范围和通信距离等约束条件;最后,在跨域协同搜索与路径跟踪规划中,基于传统粒子群算法,加入自适应学习因子调控策略和精英保存策略,生成搜索与跟踪路径.仿真实验表明,采用改进粒子群优化算法的AUV&UAV异构无人系统能够更高效地完成水下目标搜索与跟踪任务.
Underwater Target Search and Tracking Based on Air-Sea Heterogeneous Unmanned Platform
The marine heterogeneous unmanned systems can effectively enhance the implementation efficiency of complex missions.In this paper,autonomous undersea vehicles(AUVs)and unmanned aerial vehicles(UAVs)were used for searching and tracking unknown underwater targets in offshore waters.First,the underwater target search and tracking mission was described,and the mission was divided into two stages:target search and target tracking,with the objectives of maximizing the total search space of the AUV&UAV system and minimizing the end position error between the AUV and the underwater target,respectively.Then,a cross-domain collaborative search model of the AUV&UAV system was established,and constraints such as detection range and communication distance for AUVs and UAVs in the model were set.Finally,based on the traditional particle swarm optimization algorithm,an adaptive learning factor regulation strategy and an elite preservation strategy were employed for cross-domain collaborative search and tracking path planning,and search and tracking paths were generated.The simulation experiment demonstrates that the heterogeneous AUV&UAV system based on an improved particle swarm optimization algorithm can more efficiently search and track underwater targets.

cross-domain unmanned systemautonomous undersea vehicleunmanned aerial vehicleimproved particle swarm optimization algorithm

丁文俊、柴亚军、杨宇贤、刘佳敏、毛昭勇

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西北工业大学无人系统技术研究院,陕西西安,710072

浙江西安交通大学研究院,浙江杭州,311200

无人飞行器技术全国重点实验室,陕西西安,710072

无人机技术集成攻关大平台,陕西西安,710072

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跨域无人系统 自主水下航行器 无人机 改进粒子群优化算法

国家自然科学基金中国博士后科学基金陕西省自然科学基础研究计划中央高校基本科研业务费专项

519092062021M6926162024JC-YBMS-30031020200QD044

2024

10.11993/j.issn.2096-3920.2024-0037

水下无人系统学报
中国船舶重工集团公司第七〇五研究所

水下无人系统学报

CSTPCD
影响因子：0.251
ISSN：2096-3920
年,卷(期)：2024.32(2)
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