| 基于CPSO算法的海空跨域无人航行器集群协同作业路径规划 |
| |
| 引用本文： | 殷翔,李培正,骆曹飞,马赛男,马勇. 基于CPSO算法的海空跨域无人航行器集群协同作业路径规划[J]. 无人系统技术, 2022, 0(1): 26-35 |
| |
| 作者姓名： | 殷翔 李培正 骆曹飞 马赛男 马勇 |
| |
| 作者单位： | 武汉理工大学航运学院;内河航运技术湖北省重点实验室;浙江嘉蓝海洋电子有限公司 |
| |
| 基金项目： | 国家自然科学基金(62073251,52022073);湖北省自然科学基金(2020CFA055)。 |
| |
| 摘 要： | 针对海空跨域无人航行器集群在复杂水域环境下协同作业以追踪水下目标的任务,提出一种基于协同粒子群(CPSO)的协同作业路径规划算法.考虑不同无人航行器集群特性优势,合理分解并分配远距离追踪水下目标任务过程,并利用CPSO算法进行路径规划.在CPSO算法中,首先为无人机(UAVs)集群规划飞行路径,UAV飞行过程中探测水面...
|
| 关 键 词： | 海空跨域协同 无人航行器集群 协同粒子群算法 协同作业路径规划 |
A Cooperative Path Planning Strategy Based on CPSO Algorithm for Sea-air Cross-Domain Unmanned Vehicle Cluster |
| |
| YIN Xiang,LI Peizheng,LUO Caofei,MA Sainan,MA Yong. A Cooperative Path Planning Strategy Based on CPSO Algorithm for Sea-air Cross-Domain Unmanned Vehicle Cluster[J]. Unmanned Systems Technology, 2022, 0(1): 26-35 |
| |
| Authors: | YIN Xiang LI Peizheng LUO Caofei MA Sainan MA Yong |
| |
| Affiliation: | (School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan 430063,China;Zhejiang Jialan Ocean Electronics Company Limited,Zhoushan 316000,China) |
| |
| Abstract: | A cooperative path planning algorithm based on cooperative particle swarm Optimization(CPSO)was proposed to track underwater targets by sea-air cross-domain unmanned vehicle cluster in complex water environment.In the CPSO algorithm,firstly,the flight path is planned for the UAVs,and obstacles in the water navigation area are detected during the UAV flight.Then,a complete surface obstacle distribution map is generated for unmanned surface vehicles(USVs)cluster.Subsequently,CPSO algorithm was used to plan the cooperative navigation path for USVs,and the underwater navigation environment map was generated for autonomous underwater vehicles(AUVs)during the cluster navigation.Finally,CPSO algorithm plans the underwater navigation path for AUVs,and AUV completes the underwater target tracking task.The simulation results show that the CPSO algorithm plans a valid path for the sea-air cross-domain unmanned vehicle cluster,and realizes the function of unmanned vehicle cluster cooperative operation tracking of underwater target. |
| |
| Keywords: | Sea and Air Cross-domain Collaboration Unmanned Aircraft Cluster Cooperative Particle Swarm Optimization Collaborative Operation Path Planning |
| 本文献已被 维普 等数据库收录！ |
|
