Aerial multi-agent distributed phase regulation and target tracking method under guidance of multiple closed paths

A multi-agent, closed-path technology, applied in three-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control, etc., to improve timeliness and eliminate excessive dependence

Pending Publication Date: 2022-03-01
ZHONGBEI UNIV
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AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of high-efficiency and fast monitoring and detection of fixed targets in large-scale and large-space task scenarios, the present invention proposes a distributed phase control and target tracking method for multi-agents in the air under the guidance of multiple closed paths

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  • Aerial multi-agent distributed phase regulation and target tracking method under guidance of multiple closed paths
  • Aerial multi-agent distributed phase regulation and target tracking method under guidance of multiple closed paths
  • Aerial multi-agent distributed phase regulation and target tracking method under guidance of multiple closed paths

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the drawings and specific embodiments of the description.

[0032] A multi-agent distributed phase control and target tracking method in the air under the guidance of multiple closed paths, such as figure 1 shown, including the following steps:

[0033] a) For the efficient and rapid detection and monitoring of regional / stationary targets in large-scale space scenarios, determine the number of air agents, the expected radius of the multi-circle orbit, the expected orbital phase angle spacing, the expected orbital angular velocity, and master-slave communication topological relationship. Specifically: determine the number of agents in the air N, the expected radius of the multi-circle orbit ρ di , desired orbital phase angle spacing desired angular velocity The directed graph adjacency matrix A=[a ij ] N×N and B=diag{b i}; where a ij is the communication weight coefficient between air age...

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Abstract

The invention discloses an aerial multi-agent distributed phase regulation and target tracking method under guidance of multiple closed paths, and relates to the technical field of aircraft guidance control. The method comprises the following steps: firstly, determining various parameters of an aerial intelligent agent according to efficient and rapid detection and monitoring requirements of a region / static target in a large-scale space scene; and then establishing a distributed observer based on information interaction of adjacent aerial intelligent agents so as to realize asymptotic unbiased consistent estimation of a target position. Calculating parameters between the multiple aerial intelligent agents and the target position again; and constructing an aerial multi-agent distributed phase regulation and target tracking method under the guidance of multiple closed paths. And finally, the expected linear velocity and the course angular velocity of the air multi-agent are derived. According to the method, the distributed observer which only depends on interaction of adjacent agents is constructed, and excessive dependence of the whole staff on target information broadcast communication is eliminated; and the defects of insufficient timeliness, poor flexibility and the like of a single circular orbit surrounding control method for large-scale space scene observation tasks are overcome.

Description

technical field [0001] The invention relates to the technical field of aircraft guidance and control, in particular to a distributed phase control and target tracking method for multi-agents in the air under the guidance of multiple closed paths. Background technique [0002] In recent years, the problem of aerial multi-agent guidance around the target has attracted widespread attention. Its main task is to drive the aerial agent from any initial position into the desired trajectory of the target under the drive of the control system, and periodically follow this trajectory. Dynamic surround detection. It is widely used in military and civilian fields, such as reconnaissance detection, environmental monitoring, information collection, etc. For scenarios where a single aerial agent is guided around a target, it is usually required that the aerial agent orbits the target with a specified desired radius and angular velocity. Compared with the case of a single air agent, the e...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 邵星灵梅泽伟李东光张文栋
Owner ZHONGBEI UNIV
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