三维多无人机系统协同任务规划关键问题综述
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摘要
随着无人机技术的迅猛发展,人们对无人机技术的需求越来越广泛,已从单机简单任务向多机协同执行多个复杂任务、且自主协调、无人干预、群体合作的方向发展。而多无人机系统的协同任务规划技术,是无人机自主导航飞行和无人机之间自主协调配合共同完成任务的关键。这一任务规划决定了无人机各类资源的协调和执行目标的合理分配,无人机协调可飞飞行航迹的规划,以及在飞行过程中,取代人为干预,实时协调化解多机飞行时可能产生的各种冲突和问题。因此,对多无人机系统协同任务规划的关键问题,如目标分配、航迹规划、在线重规划等深入研究,是提高多机系统执行任务能力的重要环节。近年来,该领域的研究日益广泛,但还存在诸多问题需要解决,尤其迫切需要研究在三维战场环境下的多机协同任务规划方法。
With the rapid development of UAV technology,people's demand for the UAV is becoming more and more extensive. The trend of UAV research has been developed from a single UAV and simple task to the multiple UAVs performing complex tasks with autonomous coordination,no intervention,and group cooperation. The cooperative task planning of multi-UAV system is not only the key to the autonomous navigation of UAVs,but also the focus on coordination and cooperation with the UAVs to complete tasks. It determines the optimal tasks of UAV and the reasonable allocation of resources,the path planning of UAVs cooperative flight,and replacing human intervention to resolve various conflicts and problems in real time. So,the key issues of cooperative task planning for UAVs,such as target assignment,path planning,and on-line re-planning,are all important parts of improving the ability of UAVs system. In spite of the wide range of research in this field recently,there are still many problems need to be solved. In particular,it is urgent to research on multi-UAVs cooperative task planning methods in three dimensional battlefield environments.
With the rapid development of UAV technology,people's demand for the UAV is becoming more and more extensive. The trend of UAV research has been developed from a single UAV and simple task to the multiple UAVs performing complex tasks with autonomous coordination,no intervention,and group cooperation. The cooperative task planning of multi-UAV system is not only the key to the autonomous navigation of UAVs,but also the focus on coordination and cooperation with the UAVs to complete tasks. It determines the optimal tasks of UAV and the reasonable allocation of resources,the path planning of UAVs cooperative flight,and replacing human intervention to resolve various conflicts and problems in real time. So,the key issues of cooperative task planning for UAVs,such as target assignment,path planning,and on-line re-planning,are all important parts of improving the ability of UAVs system. In spite of the wide range of research in this field recently,there are still many problems need to be solved. In particular,it is urgent to research on multi-UAVs cooperative task planning methods in three dimensional battlefield environments.
引文
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[31]LU L,GONG D.Robot path planning in unknown environments using particle swarm optimization[C]//Natural Computation,2008.ICNC'08.Fourth International Conference on.Jinan,China:IEEE,2008,4:422-426.
[32]RAGI S,CHONG E K P.UAV path planning in a dynamic environment via partially observable markov decision process[J].Aerospace and Electronic Systems,IEEE Transactions on,2013,49(4):2397-2412.
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[2]Department of Defense(DOD).Unmanned Systems Integrated Roadmap FY2013—2038[Z].Department of Defense:Office of the Secretary of Defense Unmanned Systems Roadmap,USA.Washington,2013.
[3]CONNIE N K,HUGH H T.Dynamic mapping of forest fire fronts using multiple unmanned aerial vehicles[C]//AIAA Guidance,Navigation,and Control Conference.Toronto,Ontario,Canada:AIAA,2010:1-19.
[4]DUSTIN M G.A Decentralized Cooperative Control Framework for Multiple UAVs[D].Morgantown,West Virginia:West Virginia University,2007.
[5]VANDERMEERSCH B R R,CHU Q P,MLDER J A,et al.Design and implementation of a mission planner for multiple UCAVs in a SEAD mission[C]//AIAA Guidance,Navigation,and Control Conference and Exhibit.San Francisco:AIAA,2005,6480:1-10.
[6]PLAMEN A.Sense and avoid in UAS research and applications[M].Hoboken,New Jersey,USA:John Wiley and Sons,Inc,2012.
[7]陈小双,翟为刚,赵万里.美国及中国军用无人机的新发展与性能分析[J].舰船电子工程,2011,31(7):26-28.
[8]李远.多UCAV协同任务资源分配与编队轨迹优化方法研究[D].长沙:国防科学技术大学,2011.
[9]赵振宇,卢广山,廖沫,等.基于DTC和GPGP的多UCAV任务规划方法[J].北京航空航天大学学报,2011,37(3):305-310.
[10]丁明跃,郑昌文,周成平.无人飞行器航迹规划[M].北京:电子工业出版社,2009.
[11]NAGARAJAN R,SOLAIRAJU A.Computing improved fuzzy optimal Hungarian assignment problems with fuzzy costs under robust ranking techniques[J].Computing,2010,6(4):6-13.
[12]ALIGHANBARI M,HOW J P.Cooperative task assignment of unmanned aerial vehicles in adversarial environments[C]//American Control Conference,2005.Proceedings of the 2005.Portland,Oregon:IEEE,2005:4661-4666.
[13]JEONG B M,HA J S,CHOI H L.MDP-based mission planning for multi-UAV persistent surveillance[C]//Control,Automation and Systems(ICCAS),2014 14thInternational Conference on.Korea:IEEE,2014:831-834.
[14]龙涛,朱华勇,沈林成.多UCAV协同中基于协商的分布式任务分配研究[J].宇航学报,2006,27(3):457-462.
[15]WEN Y,LIU L,WANG Z,et al.Multi-UCAVs targets assignment using opposition-based genetic algorithm[C]//Control and Decision Conference(CCDC),2015 27thChinese.Qingdao,China:IEEE,2015:6026-6030.
[16]ZHAO Z,LU G.Receding horizon control for cooperative search of multi-UAVs based on differential evolution[J].International Journal of Intelligent Computing and Cybernetics,2012,5(1):145-158..
[17]SHEN Y,LI J,LI P,et al.Task allocation based on the Immune Network adjusted by the Leukocyte in the multi-Robot systems[J].Information Technology Journal,2014,13(1):60.
[18]Engelbrecht A P.Computational intelligence:an introduction[M].Hoboken,New Jersey,USA:John Wiley&Sons,Inc,2007.
[19]ZAZA T,RICHARDS A.Ant colony optimization for routing and tasking problems for teams of UAVs[C]//Control(CONTROL),2014 UKACC International Conference on.Loughborough,UK:IEEE,2014:652-655.
[20]MENG Bobo,GAO Xiaoguang.UAV Path Planning based on Bidirectional Sparse A*Search Algorithm[C]//2010 International Conference on Intelligent Computation Technology and Automation.Washington DC,USA:IEEE,2010:1106-1109.
[21]PEHLIVANOGLU Y V.A new vibrational genetic algorithm enhanced with a Voronoi diagram for path planning of autonomous UAV[J].Aerospace Science and Technology,2012,16(1):47-55.
[22]ZAGLI C O,YILMAZ I G.Establishing obstacle and collision free communication relay for UAVs with artificial potential fields[J].Journal of Intelligent&Robotic Systems,2013,69(1-4):361-372.
[23]OZALP N,SAHINGOZ O K.Optimal UAV path planning in a 3D threat environment by using parallel evolutionary algorithms[C]//Unmanned Aircraft Systems(ICUAS),2013 International Conference on.Atlanta,Georgia:IEEE,2013:308-317.
[24]孙阳光,丁明跃.基于量子遗传算法的无人飞行器航迹规划[J].宇航学报,2010,31(3):648-654.
[25]ROBERGE V,TARBOUCHI M,LABONTG.Comparison of parallel genetic algorithm and particle swarm optimization for real-time UAV path planning[J].Industrial Informatics,IEEE Transactions on,2013,9(1):132-141.
[26]HORN J F,SCHMIDT E M,GEIGER B R,et al.Neural networkbased trajectory optimization for unmanned aerial vehicles[J].Journal of Guidance,Control,and Dynamics,2012,35(2):548-562.
[27]JUNG D,TSIOTRAS P.On-line path generation for unmanned aerial vehicles using B-spline path templates[J].Journal of Guidance,Control,and Dynamics,2013,36(6):1642-1653.
[28]TSOURDOS A,WHITE B,SHANMUGOVEL M.Cooperative Path Planning of Unmanned Aerial Vehicles[M].Hoboken,New Jersey,USA:John Wiley&Sons,Inc,2011.
[29]BERGER J,BOUKHTOUTA A,BENMOUSSA A,et al.A new mixed-integer linear programming model for rescue path planning in uncertain adversarial environment[J].Computers&Operations Research,2012,39(12):3420-3430.
[30]吴剑,张东豪.基于卡尔曼滤波和D*算法的动态目标航路规划[J].电光与控制,2014,21(8):50-53.
[31]LU L,GONG D.Robot path planning in unknown environments using particle swarm optimization[C]//Natural Computation,2008.ICNC'08.Fourth International Conference on.Jinan,China:IEEE,2008,4:422-426.
[32]RAGI S,CHONG E K P.UAV path planning in a dynamic environment via partially observable markov decision process[J].Aerospace and Electronic Systems,IEEE Transactions on,2013,49(4):2397-2412.
[33]ZHANG B,MAO Z,LIU W,et al.Geometric reinforcement learning for path planning of UAVs[J].Journal of Intelligent&Robotic Systems,2015,77(2):391-409.