多无人机编队队形选择和优化
|
摘要
针对多无人机编队作战过程中的队形选择和几何参数优化问题,提出了结合云模型理论的模糊层次分析法以及应用于遗传算法中一种表明队形几何参数和编队作战能力指标之间关系的适应度函数。利用云模型理论对专家打分进行评价以减少主观影响,采用模糊层次分析法得到了针对特定任务的标准队形。通过分析队形几何参数与编队作战能力的关系构建了相应的适应度函数以引导遗传算法对队形几何参数进行寻优。数值仿真结果表明,所提方法可有效解决特定任务下的编队队形选择和优化问题。
To choose suitable multiple UCAVs formation configuration and optimize geometrical parameters of standard formation configuration, a kind of fuzzy analytic hierarchy process method that is combined with cloud models theory and genetic algorithm which contains a fitness function concerning the relationship between parameters of formation configuration and formation operational effectiveness indices. Firstly, the score given by specialists is evaluated with the help of cloud models theory, and then a kind of corresponding standard formation is given in the view of specific operational task. Secondly, fitness function of formation configuration geometrical parameters optimization is derived by analyzing the relationship between parameters of formation configuration and formation operational effectiveness indices. The numerical simulation results show that the proposed method can solve the problem of formation configuration selection and formation configuration optimization.
To choose suitable multiple UCAVs formation configuration and optimize geometrical parameters of standard formation configuration, a kind of fuzzy analytic hierarchy process method that is combined with cloud models theory and genetic algorithm which contains a fitness function concerning the relationship between parameters of formation configuration and formation operational effectiveness indices. Firstly, the score given by specialists is evaluated with the help of cloud models theory, and then a kind of corresponding standard formation is given in the view of specific operational task. Secondly, fitness function of formation configuration geometrical parameters optimization is derived by analyzing the relationship between parameters of formation configuration and formation operational effectiveness indices. The numerical simulation results show that the proposed method can solve the problem of formation configuration selection and formation configuration optimization.
引文
[1] M Deghat,L Xia,B D O Anderson,and Y Hong.Multi-target localization and circumnavigation by a single agent using bearing measurements[J].International Journal of Robust and Nonlinear Control,September 2015,25:2362–2374.
[2] J Wang and M Xin.Integrated optimal formation control of multiple unmanned aerial vehicles[J].IEEE Transactions on Control System Technology,September 2013,21:1731–1744.
[3] H B Duan,Q Liu S.Non-linear dual-mode receding horizon control for multiple unmanned air vehicles formation flight based on chaotic particle swarm optimisation IET Control Theory and Applications[J].Iet Control Theory & Applications,2010,11(4).
[4] 樊琼剑,杨忠,方挺,沈春林.多无人机协同编队飞行控制的研究现状[J].航空学报,2009,30(4):683-691.
[5] J P Desai,J Ostrowski,V Kumar.Controlling formations of multiple mobile robots[C].In IEEE International Conference on Robotics and Automation,Lenven,Belgium,1998:2864-2869
[6] S J Chung,J J Slotine.Cooperative robot control and concurrent synchronization of lagrangian systems[J].IEEE Transactions on Robotics.2009,25(3):686-700.
[7] 夏庆军,张安,张耀中.大规模编队空战队形优化算法[J].控制理论与应用,2010,27(10):1418-1422.
[8] 钱斌,姜长生.遗传算法在直升机空战编队优化中的应用[J].电光与控制,2008,15(1):6-9.
[9] 张科施,王正平.基于遗传模拟退火算法的空战编队优化研究[J].西北工业大学学报,2003,21(4):477-480.
[10] 王玉菊,岳丽军.基于模糊层次分析法的卫星探测效能评估算法[J].系统仿真学报,2012,24(8):1665-1668.
[11] 刘玉超.一种自适应的多粒度概念提取方法[J].计算机工程与应用,2015,51(9):162-165.
[2] J Wang and M Xin.Integrated optimal formation control of multiple unmanned aerial vehicles[J].IEEE Transactions on Control System Technology,September 2013,21:1731–1744.
[3] H B Duan,Q Liu S.Non-linear dual-mode receding horizon control for multiple unmanned air vehicles formation flight based on chaotic particle swarm optimisation IET Control Theory and Applications[J].Iet Control Theory & Applications,2010,11(4).
[4] 樊琼剑,杨忠,方挺,沈春林.多无人机协同编队飞行控制的研究现状[J].航空学报,2009,30(4):683-691.
[5] J P Desai,J Ostrowski,V Kumar.Controlling formations of multiple mobile robots[C].In IEEE International Conference on Robotics and Automation,Lenven,Belgium,1998:2864-2869
[6] S J Chung,J J Slotine.Cooperative robot control and concurrent synchronization of lagrangian systems[J].IEEE Transactions on Robotics.2009,25(3):686-700.
[7] 夏庆军,张安,张耀中.大规模编队空战队形优化算法[J].控制理论与应用,2010,27(10):1418-1422.
[8] 钱斌,姜长生.遗传算法在直升机空战编队优化中的应用[J].电光与控制,2008,15(1):6-9.
[9] 张科施,王正平.基于遗传模拟退火算法的空战编队优化研究[J].西北工业大学学报,2003,21(4):477-480.
[10] 王玉菊,岳丽军.基于模糊层次分析法的卫星探测效能评估算法[J].系统仿真学报,2012,24(8):1665-1668.
[11] 刘玉超.一种自适应的多粒度概念提取方法[J].计算机工程与应用,2015,51(9):162-165.