分层池化: 带宏观引导收益的UAV集群区域覆盖搜索方法
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TP273

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陕西省自然科学基础研究计划项目(2024JC-YBMS-501).


Layered pooling: A UAV swarm area coverage search method with macro guidance benefits
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    摘要:

    针对UAV集群在未知环境中的区域覆盖搜索问题, 提出一种基于分层池化地图模型的UAV集群区域覆盖搜索算法. 首先, 构建环境地图对待搜索任务区域进行表征; 其次, 将图像处理领域的池化技术与区域栅格地图结合, 构建分辨率不同的多层次池化地图模型; 然后, 设计包含覆盖率、边界约束和宏观收益等在内的决策目标函数, 提出适用于强对抗环境的UAV集群分布式信息交互机制; 最后, 采用数值仿真对所提方法的有效性进行验证. 仿真结果表明, 所提算法能够在不同信道质量的条件下有效引导UAV集群对未知任务区域展开覆盖搜索, 在给定覆盖搜索场景中, 算法决策时间和覆盖率均优于现有其他方法.

    Abstract:

    To address the problem of area coverage search for UAV swarms in unknown environments, a layered pooling map (LPM) model-based area coverage search algorithm for UAV swarms is proposed. Firstly, an environmental map is constructed to represent the task area to be searched. Secondly, by combining pooling techniques from the field of image processing with regional grid maps, a multi-level pooling map model with different resolutions is constructed. Then, a decision objective function including coverage, boundary constraints, and macro benefits is designed, and a distributed information interaction mechanism for UAV swarms suitable for strongly adversarial environments is proposed. Finally, numerical simulations are conducted to verify the effectiveness of the proposed method. The simulation results show that the proposed algorithm can effectively guide the UAV swarm to conduct coverage searches in unknown task areas under different channel quality conditions. In a given coverage search scenario, the algorithm's decision time and coverage are better than other existing methods.

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王宁,梁晓龙,李哲,等.分层池化: 带宏观引导收益的UAV集群区域覆盖搜索方法[J].控制与决策,2025,40(12):3763-3777

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  • 收稿日期:2025-02-01
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  • 在线发布日期: 2025-11-10
  • 出版日期: 2025-12-10
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