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基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策

沈东 魏瑞轩 祁晓明 关旭宁

沈东, 魏瑞轩, 祁晓明, 关旭宁. 基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策. 自动化学报, 2014, 40(7): 1391-1403. doi: 10.3724/SP.J.1004.2014.01391
引用本文: 沈东, 魏瑞轩, 祁晓明, 关旭宁. 基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策. 自动化学报, 2014, 40(7): 1391-1403. doi: 10.3724/SP.J.1004.2014.01391
SHEN Dong, WEI Rui-Xuan, QI Xiao-Ming, GUAN Xu-Ning. Receding Horizon Decision Method Based on MTPM and DPM for Multi-UAVs Cooperative Large Area Target Search. ACTA AUTOMATICA SINICA, 2014, 40(7): 1391-1403. doi: 10.3724/SP.J.1004.2014.01391
Citation: SHEN Dong, WEI Rui-Xuan, QI Xiao-Ming, GUAN Xu-Ning. Receding Horizon Decision Method Based on MTPM and DPM for Multi-UAVs Cooperative Large Area Target Search. ACTA AUTOMATICA SINICA, 2014, 40(7): 1391-1403. doi: 10.3724/SP.J.1004.2014.01391

基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策

doi: 10.3724/SP.J.1004.2014.01391
基金项目: 

中国航空科学基金(20135896027)资助

详细信息
    作者简介:

    沈东 空军工程大学博士研究生. 主要研究方向为多无人机协同搜索控制.E-mail:einkingmilitary@163.com

Receding Horizon Decision Method Based on MTPM and DPM for Multi-UAVs Cooperative Large Area Target Search

Funds: 

Supported by National Aviation Science Foundation of China (20135896027)

  • 摘要: 传统的协同搜索决策方法在目标引导和机间协同方面存在不足. 研究建立了基于分布概率预测的目标概率图(Target probability map,TPM)初始化方法和基于贝叶斯准则的目标概率图动态更新方法,形成了修正目标概率图(Modified TPM,MTPM)及其运算机理.考虑对任务子区域进行可控回访,定义了数字信息素图(Digital pheromone map,DPM),建立了数字信息素图使用方法及更新机理.设计了基于MTPM和DPM的寻优指标,建立了基于滚动时域控制的协同搜索决策方法(MTPM-DPM-RHC method,MDR).仿真表明: 1) MTPM能有效降低对目标的虚警率和漏检率;2) DPM能有效实现对任务区域可控回访;3) MDR方法的遍历能力、重访能力和目标搜索效率均优于已有方法.
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出版历程
  • 收稿日期:  2013-03-14
  • 修回日期:  2013-10-09
  • 刊出日期:  2014-07-20

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