控制与决策
控製與決策
공제여결책
CONTROL AND DECISION
2013年
5期
711-715
,共5页
轩永波%黄长强%吴文超%王勇%翁兴伟%李望西
軒永波%黃長彊%吳文超%王勇%翁興偉%李望西
헌영파%황장강%오문초%왕용%옹흥위%리망서
无人机%搜索决策%质心V图划分%动态环境
無人機%搜索決策%質心V圖劃分%動態環境
무인궤%수색결책%질심V도화분%동태배경
uninhabited aerial vehicles%search strategies%centroidal voronoi partitions%dynamic environment
针对目标在空间上随机均匀分布,在时间上动态随机产生的搜索环境,提出一种基于质心 V 图划分(CVP)的无人机搜索决策方法对多架无人机进行搜索空间分配.首先建立了 CVP 数学模型,在此基础上提出了基于 CVP 的目标分配算法,并证明了算法的收敛性;最后进行了仿真实验,仿真结果表明所提出的 CVP 策略能有效进行随机目标搜索,且算法具有良好的自适应能力.
針對目標在空間上隨機均勻分佈,在時間上動態隨機產生的搜索環境,提齣一種基于質心 V 圖劃分(CVP)的無人機搜索決策方法對多架無人機進行搜索空間分配.首先建立瞭 CVP 數學模型,在此基礎上提齣瞭基于 CVP 的目標分配算法,併證明瞭算法的收斂性;最後進行瞭倣真實驗,倣真結果錶明所提齣的 CVP 策略能有效進行隨機目標搜索,且算法具有良好的自適應能力.
침대목표재공간상수궤균균분포,재시간상동태수궤산생적수색배경,제출일충기우질심 V 도화분(CVP)적무인궤수색결책방법대다가무인궤진행수색공간분배.수선건립료 CVP 수학모형,재차기출상제출료기우 CVP 적목표분배산법,병증명료산법적수렴성;최후진행료방진실험,방진결과표명소제출적 CVP 책략능유효진행수궤목표수색,차산법구유량호적자괄응능력.
The paper present search stategies based on centroidal voronoi partitions(CVP) for uninhabited aerial vehicles(UAVs) under such dynamic environments that the targets are uniformly distributed and appear randomly over time in a bounded region. Firstly, the CVP model is presented, on the basis of that, the search space division algorithm is given and the convergence of the algorithm is proved. Then the multi-UAVs search strategy under dynamic environment is designed and the effection of UAVs turning radius to algorithm performance is also considered. Finally, the simulation results show that CVP search algorithm is effective to search dynamic targets, and the algorithm has good adaptivity.
