基于多目标优化的自组织无人机集群航迹规划方法

doi:10.3969/j.issn.2096-0204.2021.03.0257

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摘要为解决无人机集群在复杂环境中通过自组织形式进行航迹规划的问题, 提出了一种基于规则系统的无人机集群控制模型和基于多目标优化的无人机集群控制参数调整策略. 该方法能够适应多种不同的复杂环境, 且能够解决多任务航迹规划问题. 为验证该方法的有效性, 设计了包括凸障碍、非凸障碍以及通道障碍等多种不同类型场景的仿真实验, 并将该方法与多种不同的无人机集群控制方法进行了对比.

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	作者相关文章
	王原
	邢立宁
	陈盈果
	赵翔
	黄魁华

关键词 ：航迹规划, 无人机集群, 自组织, 群智能, 多目标优化

Abstract：To solve the path planning problem of self-organized UAV swarm in complex environment, a control approach based on rule-based system and a multi-objective optimization parameter tuning approach are proposed. The control model generated by these approaches can deal with path planning problem in complex environment (including convex obstacles, square obstacles, and tunnel obstacles) with multi targets. Simulation experiments are designed to test the performances of this approach. Comparison methods include some state of the art methods.

Key words： path planning UAV swarm self-organized swarm intelligent multi-objective optimization

基金资助:国家自然科学基金 (61773120, 61873328, 71901213, 72001212) 资助

引用本文:

王原, 邢立宁, 陈盈果, 赵翔, 黄魁华. 基于多目标优化的自组织无人机集群航迹规划方法[J]. 指挥与控制学报, 2021, 7(3): 257-268.
WANG Yuan, XING Li-Ning, CHEN Ying-Guo, ZHAO Xiang, HUANG Kui-Hua. Self-organized UAV Swarm Path Planning Based on Multi-objective Optimization. Journal of Command and Control, 2021, 7(3): 257-268.

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http://www.jc2.org.cn/CN/10.3969/j.issn.2096-0204.2021.03.0257 或 http://www.jc2.org.cn/CN/Y2021/V7/I3/257