| 未知动态环境下有人/无人机协同搜救研究 |
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| 引用本文： | 张毅,王志松,杨秀霞,方元.未知动态环境下有人/无人机协同搜救研究[J].航空电子技术,2023(2):21-25. |
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| 作者姓名： | 张毅 王志松 杨秀霞 方元 |
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| 作者单位： | 海军航空大学，烟台 264001;中国航空无线电电子研究所，上海 200241 |
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| 摘 要： | 针对未知动态环境下搜救效率和智能化水平不高的问题，提出了一种基于变步长模型预测控制的有人机/无人机协同搜救方式。根据环境的动态变化性和探测的不确定性，建立了表示环境确定度和目标探测概率的动态搜救图模型，根据态势信息选择时间域步长，并根据有人机/无人机协同搜救任务特点，设计了搜救收益指标，并利用粒子群优化进行求解。仿真结果表明了本文方法的有效性和优越性。
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| 关 键 词： | 未知动态环境 搜救 有人无人协同 |
| 收稿时间： | 2023/5/12 0:00:00 |
| 修稿时间： | 2023/5/27 0:00:00 |
Research on Manned and Unmanned Vehicle Collaborative Search and Rescue
in Unknown Dynamic Environments |
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| ZHANG Yi,WANG Zhi-song,YANG Xiu-xi,FANG Yuan.Research on Manned and Unmanned Vehicle Collaborative Search and Rescue
in Unknown Dynamic Environments[J].Avionics Technology,2023(2):21-25. |
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| Authors: | ZHANG Yi WANG Zhi-song YANG Xiu-xi FANG Yuan |
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| Institution: | Naval Aviation University, Yantai 264001, China;China Aeronautical Radio Electronics Research Institute, Shanghai 200241, China |
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| Abstract: | To solve the problem of low efficiency and intelligence in search and rescue in unknown dynamic environments,
a Variable Steps CMPC based on manned and unmanned collaboration is proposed. According to the dynamic
change of environment and detection uncertainty, the dynamic search map of environment certainty and target detection
probability is established, and steps of time domain are selected according to situation. And according to the characteristics
of MAV/UAV cooperative search and rescue, the optimizing indexes are designed and results are solved by PSO.
The simulation results demonstrate the effectiveness and superiority of the proposed method. |
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| Keywords: | unknown dynamic environments search and rescue manned and unmanned collaboration |
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