A multi⁃UAVs and multi⁃USVs formation cooperative mechanism based on leader⁃follower strategy

被引：0
|
作者：
Wang Z. [1 ]
Liu K. [1 ]
Guo J. [2 ]
Liu X. [2 ]
机构：
[1] School of Mechanics and Aerospace Engineering, Dalian University of Technology, Dalian
[2] Beijing Aerospace Technology Institute, Beijing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷
基金：
中国国家自然科学基金;
关键词：
formation control; fuzzy control; leader-follower strategy; trajectory planning; UAV-USV cooperation;
D O I：
10.7527/S1000-6893.2023.29791
中图分类号：
学科分类号：
摘要：
As the unmanned system technology continues to advance，the issue of cross-domain cooperation in unmanned cluster systems has become a research hotspot. To address the problem of front-end cooperative navigation of multi-Unmanned Aerial Vehicles（UAVs）and multi-Unmanned Surface Vehicles（USVs）in a sea-air cooperation scenario，this paper conducts research on the multi-UAVs and multi-USVs formation cooperation mechanism based on the hierarchical leader-follower strategy. A motion model for cross-domain cluster formation is established to describe the leader-follower relationships among various entities within the cross-domain cluster system. Regarding the cooperative trajectory planning problem for the Leader-UAV and Leader-USV，a trajectory cost function considering multiple constraints is formulated based on the established double-layer grid map model. The improved genetic algorithm is employed for optimization. In the context of cross-domain cluster formation cooperative motion control，heterogeneous formation controllers for the leader-UAV and leader-USV and homogeneous formation motion controllers are designed based on the hierarchical leader-follower formation strategy. Parameter tuning is performed for the homogeneous formation motion controller using the fuzzy controller. Simulation experiments validate the effectiveness of the proposed cross-domain cooperative mechanism for multi-UAVs and multi-USVs. © 2023 Chinese Society of Astronautics. All rights reserved.
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