北京邮电大学学报

  • EI核心期刊

北京邮电大学学报 ›› 2013, Vol. 36 ›› Issue (5): 36-40.doi: 10.13190/j.jbupt.2013.05.008

• 论文 • 上一篇    下一篇

多无人机协同航路规划研究

林林, 孙其博, 王尚广, 杨放春   

  1. 北京邮电大学 网络与交换技术国家重点实验室, 北京 100876
  • 收稿日期:2012-12-25 出版日期:2013-10-31 发布日期:2013-08-09
  • 作者简介:林林(1981-),男,博士生,E-mail:lin_bupt@bupt.edu.cn;杨放春(1957-),男,教授,博士生导师.
  • 基金资助:

    国家自然科学基金项目(61272521);国家创新研究群体科学基金项目(611210610);高等学校博士学科点专项科研基金项目(20110005130001)

Research on Multi-UAV Cooperative Trajectory Planning

LIN Lin, SUN Qi-bo, WANG Shang-guang, YANG Fang-chun   

  1. State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2012-12-25 Online:2013-10-31 Published:2013-08-09

摘要:

提出了一种基于路径均衡蚁群优化的航路规划方法。首先,针对环境的复杂性和多机航行的碰撞威胁,引入阻塞因子以解决无人机之间的空间协同问题;其次,利用可变协同航程同步各无人机的航行时间,解决无人机之间的时间协同问题;最后,在满足时空协同要求的前提下,为无人机编队选择总体航行代价最小的优化航路。仿真实验结果验证了复杂环境下所提方法的可行性和有效性。

关键词: 多无人机, 航路规划, 时空协同, 蚁群优化, 路径均衡

Abstract:

A path balancing based ant colony optimization approach was presented. At first, in view of coordinated trajectory planning in dynamic and uncertain environments, the congestion factor was adopted to avoid collision between unmanned aerial vehicle (UAVs). Then, for time cooperation, the variable cooperative voyage was used to synchronize the arrival time of each UAV. With these premise of space-time collaborative, the trajectory for UAV fleet with minimum costs was selected. Simulation demonstrates the feasibility and the effectiveness of the proposed approach under complicated environment.

Key words: multiple unmanned aerial vehicles, trajectory planning, space-time cooperation, ant colony optimization, path balancing

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