非确定环境下基于分层理论的无人机多机协同控制算法研究

项目名称： 非确定环境下基于分层理论的无人机多机协同控制算法研究

项目编号： No.61070218

项目类型： 面上项目

立项/批准年度： 2011

项目学科： 金属学与金属工艺

项目作者： 张广政

作者单位： 中国人民解放军陆军军官学院

项目金额： 11万元

中文摘要： 多机协同控制是目前无人机应用领域亟等解决的关键技术难题之一，本申请紧紧围绕非确定环境下多无人机自主协同这一科学问题，采用分层理论与智能优化相结合的技术手段来构建一个基于分层理论的多机协同控制算法模型，提出利用"分层协作感知"算子来提取非确定环境下的主特征向量，利用"层场景引擎"吸引子来进一步优化多机协同任务分配模块和快速路径寻优，以提高无人机的自主协同能力和多机协同的实时性，重点研究的关键问题包括：1）构建一个非确定环境下的多机协同控制算法；2)确立一个基于"分层协作感知"算子和"层场景引擎"吸引子的基于分层理论的多机协同控制数学模型；3)模拟并完善非确定环境下多机协同路径寻优快速计算及动态任务规划等。此研究成果对提高多无人机在非确定环境下协同作战能力有较强的理论参考价值。

中文关键词： 多机协同；无人机；层场景引擎；任务规划；非确定环境

英文摘要： As one of the challenging aspects in the application of Unmanned Aerial Vehicle (UAV), Multiple UAVs (Multi-UAVs) cooperative controal technology has got much attention in the past few decades. Here, based on the hierarchical theory and intelligent optimization methods, we focus on the topic of Mutli-UAVs cooperation and try to construct a cooperative control model of multiple UAVs under uncertain enviroments. Specifically, the most important two points of our proposal are: 1) introducing a hierarchical capture operator, which will be used to construct input principal eigenvector, 2) proposing a scene attractor for the purpose of optimizing formation flight and cooperative tasking. The above two operators will be adopted to improve the automatic cooperative ability of a UAV, as well as a team of Multi-UAVs. Here, the porpose of our proposal is to provide a survey on the following problems: firstly, constructing Multi-UAVs cooperative control algorithm under uncertain conditions; secondly, constructing a cooperative control model based on hierarchical capture agent and scene attractor; and lastly, constructing Multi-UAVs cooperative path plan and dynamic mission assignment based on intelligent optimization technologies. Our proposal would has much contribution to address the problem of improving Multi-UAVs cooperative control ability under uncertain conditions.

英文关键词： Multi-UAVs cooperation; Unmanned aerial vehicle; Hierarchical scene engine; Mission plan; Uncertain environments