Potential game-based multi-unmanned aerial vehicle cooperative search method

A technology of multiple drones and search methods, applied in the field of autonomous control of drones, can solve problems such as inconsistency of communication information

Active Publication Date: 2016-06-22
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

[0008] The present invention proposes a multi-UAV collaborative search method based on potential game. environment to make decisions, so as to achieve the optimal overall performance, and at the same time be able to deal with the complexity of communication, real-time calculation, inconsistency of information and other issues

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  • Potential game-based multi-unmanned aerial vehicle cooperative search method

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Embodiment Construction

[0081] The following uses a specific example to verify the performance of a potential game-based multi-UAV cooperative search method proposed by the present invention. The experimental computer configuration is IntelCoreDuoCPUT6600 processor, 2.2Ghz main frequency, 4G memory, MATLAB2013 version. Its concrete implementation steps of this method are as follows:

[0082] Step 1: Multi-UAV collaborative search problem modeling and parameter initialization setting

[0083] Consider using 10 drones (denoted as V={v 1 ,v 2 ,...,v n}) for an unknown region Search, each UAV as an independent decision maker adopts a distributed strategy to explore the task area, the regional schematic diagram is shown in the attached figure 1 (For convenience, only 7 frames are shown in the schematic diagram). contiguous task area The average distribution is M=100×80 basic units, and each unit uses its center position g=[x,y] T equivalent instead. UAV v i its coverage at time t An independ...

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Abstract

The invention discloses a potential game-based multi-unmanned aerial vehicle cooperative search method. The method comprises steps: 1, modeling of a multi-unmanned aerial vehicle cooperative search problem is carried out; 2, potential game modeling for a multi-unmanned aerial vehicle cooperative motion and potential game solution in a double log-linear learning method are carried out; 3, a probability map is updated according to sensor detection information, information fusion is carried out on the updated probability map, and a target existence probability is acquired; and 4, uncertainty is updated according to the target existence probability, and multi-unmanned aerial vehicle cooperative search is carried out. The method of the invention can realize multi-unmanned aerial vehicle cooperative search, and comprises steps of cooperative motion based on the potential game, updating of the probability map, information fusion and the like, and due to the self distributed control mode, the calculation is simple, the robustness is strong, and external disturbance can be effectively handled.

Description

【Technical field】 [0001] The invention is a potential game-based multi-unmanned aerial vehicle cooperative search method, which belongs to the technical field of autonomous control of unmanned aerial vehicles. 【Background technique】 [0002] Among the various tasks undertaken by UAVs, reconnaissance and search (Reconnaissance and Search) is the primary task of UAV systems at present. UAVs that perform such tasks are usually called unmanned reconnaissance aircraft, typically including the "UAV" of the US military. The main functions of drones such as Global Hawk, Predator, and ScanEagle are intelligence reconnaissance, target search, target indication and positioning, dynamic target tracking, and battlefield surveillance, etc. . Compared with reconnaissance satellites, the cost of UAVs is low, the active area is not limited by satellite orbits, and the control is more flexible. When targeting dynamic time-sensitive targets, higher-resolution real-time target images can be ob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12G05B13/04
CPCG05B13/042G05D1/12
Inventor 段海滨李沛
Owner BEIHANG UNIV
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