基于群体智能的多无人机编队自主协调控制及验证

项目名称： 基于群体智能的多无人机编队自主协调控制及验证

项目编号： No.61333004

项目类型： 重点项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 段海滨

作者单位： 北京航空航天大学

项目金额： 280万元

中文摘要： 以无人机为背景，以解决复杂环境下的多无人机编队自主协调控制及验证问题为目标，在设计并完善群体智能统一框架基础上，深入研究群体智能动力学模型特性，并研究其收敛性与稳定性；探索研究基于仿生智能的无人机态势评估技术，系统研究基于群体智能的多无人机分布式协调决策及实时避障方法，研究基于群体智能的多无人机协调编队与编队构型优化，开发基于群体智能的多无人机编队自主协调控制平台，并在飞行器控制一体化技术国防科技重点实验室和中航工业沈阳飞机设计研究所现有的多无人机仿真试验平台上进行半物理仿真验证和外场编队飞行验证，从而对阐明群体智能机制、揭示群体智能与多无人机编队自主协调控制之间的关系有重要意义。该项目可为复杂动态环境下无人机协调控制提供一个新的突破方向和可行技术途径，同时为现代无人机系统自主化、综合化和智能化奠定技术基础。

中文关键词： 群体智能;无人机;编队;自主协调控制;

英文摘要： This project mainly focuses on solving the problem of multiple Unmanned Aerial Vehicle (multi- UAV) autonomous formation control and verification under complicated dynamic environments. Firstly, a novel framework of swarm intelligence is designed. The dynamics characteristics, including the convergence and the stability of swarm intelligence are also investigated in detail. Then, bio-inspired intelligence based situation assessment is studied, and multi-UAV distributed collaborative decision and real-time obstacle avoidance techniques are also presented, which is based on swarm intelligence behaviours. Subsequently, multi-UAV coordinated formation control and optimization methods based on swarm intelligence are further studied. Finally, an integrated software and hardware package for multi-UAV autonomous formation control and verification based on swarm intelligence is developed. All the above theories and techniques will be tested and verified in the integrated simulation platforms of national key laboratory of Beihang University and Shenyang Aircraft Design & Research Institute, which is significant for revealing the mechanisms of swarm intelligence, and clarifying relationship between multi-UAV autonomous formation control and swarm intelligence. This project can provide a new breakthrough direction and feasible way for multi-UAV coordinated control in complicated environments, and also lay an important technical foundation for autonomation, integration and intelligentization of modern UAV systems.

英文关键词： Swarm Intelligence;Unmanned Aerial Vehicle(UAV);Formation;Autonomous Coordinated Control