基于角色切换策略的多无人机协同区域搜索

针对存在随机分布目标的区域快速搜索问题开展研究，考虑无人机有限通信能力和探测信息的实时回传需求，提出了一种基于角色切换策略的多无人机协同区域搜索方法。首先，考虑各无人机平台的历史搜索信息和协同搜索收益，基于概率传感器模型构建了多无人机协同区域搜索求解框架；其次，基于4项无人机节点重要性的评价指标，采用改进逼近理想解排序法（TOPSIS）完成无人机节点重要性评估，通过无人机角色动态切换实现了区域搜索过程中协同搜索收益与网络连通性的平衡；最后，考虑机间防撞、通信保持、无人机运动学等约束条件，利用分布式滚动时域优化方法完成各无人机在线运动规划，实现多无人机协同区域搜索。仿真结果表明了所提方法的可行性和有效性。 

Multi-UAV cooperative surveillance based on role switch strategy

With limited communication range and real-time information transmission via multihop communications, a novel multi-UAV cooperative surveillance method based on role switch strategy is proposed for searching unknown region and monitoring some hotspots. Firstly, considering history detection information and cooperative surveillance, a multi-UAV cooperative surveillance frame is implemented based on probabilistic sensor model. Secondly, four attributes are proposed to characterize differences among UAV alternatives in communication network containing ground station, and a novel UAVs role switch strategy is proposed based on UAV node importance evaluation to achieve tradeoff between surveillance mission and connectivity maintenance with improved Technique for Order Preferenceby Similarity to Ideal Solution (TOPSIS). Finally, considering collision avoidance, connectivity maintenance and UAV dynamics constraints, UAVs motion plan is optimized by distributed receding horizon control based on different UAV roles to achieve multi-UAV cooperative surveillance. Simulation results demonstrate the feasibility and effectiveness of the proposed methods in multi-UAV cooperative surveillance.