标题：
Multi-UAV cooperation search for moving targets under limited communication
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所属单位：
自动化学院
发表刊物：
Harbin Gongcheng Daxue Xuebao
摘要：
An unmanned aerial vehicle (UAV) communication topology structure is built by a connectivity matrix Considering the UAV communication constraints and target motion characteristics in search problems. The approach is to update the target existence posteriori probability by multi-UAV detection information based on Bayesian theory and then derive the prediction probability of the dynamic time-sensitive target by calculating the target transition probability density. The goal is to increase the accuracy of the target provability map (TPM). This paper describes designing a dispatch pheromone, establishing a digital pheromone usage method, and the updating the theory to enhance the cooperation of UAVs. On this basis, reasonable UAV cooperative search performance function is designed. At last, the approach will optimize the performance index function in the framework of distributed model predictive control (DMPC). The simulation results show that the two search graph can guide the UAV collaborative search, strengthen the cooperation between machines and improve the search efficiency. © 2018, Editorial Department of Journal of HEU. All right reserved.
ISSN号：
1006-7043
是否译文：
否
发表时间：
2018-11-05
合写作者：
江驹,Zhou, Jun,Yu, Chaojun
通讯作者：
万晓冬
发表时间：
2018-11-05
学位：工学硕士学位
职称：副研究员（自然科学）
所在单位：自动化学院