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针对无人机之间的通信距离受到限制的情况,提出了一种基于Voronoi图的分布式协同搜索策略.首先建立了环境、无人机、传感器、通信等的数学模型;然后设计了速度约束下各架无人机的控制律;在通信距离不小于两倍视场半径的情况下,给出了各架无人机利用通信距离之内的邻居信息计算各自视场范围内的Voronoi图区域及其质心的方法,并设计了通信距离受限情况下的搜索策略,给出了通信周期与采样周期不同步情况下的信息更新公式.仿真结果表明,该分布式搜索策略比贪婪搜索和随机搜索策略在降低区域不确定度上具有更快的收敛速度,可实现通信距离受限情况下的多无人机分布式协同搜索任务.
Aiming at the limitation of communication distance between UAVs, a distributed cooperative search strategy based on Voronoi diagram is proposed.Firstly, a mathematical model of environment, UAV, sensors and communication is established, and then the speed constraint Under the condition that the communication distance is not less than twice the radius of the field of view, the UAVs of each UAV are used to calculate the Voronoi diagram region within the respective field of view by using the neighbor information within the communication distance And its centroid, and designs the search strategy under the condition of limited communication distance, and gives the information updating formula under the condition of communication cycle and sampling cycle are not synchronized.The simulation results show that the distributed search strategy is more efficient than greedy search and random The search strategy has faster convergence speed in reducing the regional uncertainty and can realize the distributed coordinated search task of multi-UAV when the communication distance is limited.