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.
引用
收藏
相关论文
共 36 条
  • [21] WEI T，LONG C., Path planning for mobile robot based on improved genetic algorithm［J］, Journal of Beijing University of Aeronautics and Astronautics, 46, 4, pp. 703-711, (2020)
  • [22] LI X Q, MA R，, ZHANG S，, Et al., Improved design of ant colony algorithm and its application in route planning［J］, Acta Aeronautica et Astronautica Sinica, 41, S2, (2020)
  • [23] A mixing algorithm of ACO and ABC for solving path planning of mobile robot［J］, Applied Soft Computing, 148, (2023)
  • [24] YU Z H, LI X B，, Et al., A novel hybrid particle swarm optimization algorithm for path planning of UAVs［J］, IEEE Internet of Things Journal, 9, 22, pp. 22547-22558, (2022)
  • [25] LIU Y, ZHANG X J，, ZHANG Y，, Et al., Collision free 4D path planning for multiple UAVs based on spatial refined voting mechanism and PSO approach［J］, Chinese Journal of Aeronautics, 32, 6, pp. 1504-1519, (2019)
  • [26] KAN P, JIANG Z L, LIU Y H，, Et al., Cooperative path planning for multi-sprayer-UAVs［J］, Acta Aeronautica et Astronautica Sinica, 41, 4, (2020)
  • [27] ZHANG M H, CHEN S Y，, Et al., A Multi-Strategy Improved Differential Evolution algorithm for UAV 3D trajectory planning in complex mountainous environments［J］, Engineering Applications of Artificial Intelligence, 125, (2023)
  • [28] WANG J, DOU L Y., Trajectory tracking design of multi-UAV formation based on Leader-Follower ［J］, Acta Aeronautica et Astronautica Sinica, 41, (2020)
  • [29] CHEN H, WANG X K，, SHEN L C，, Et al., Formation flight of fixed-wing UAV swarms：A group-based hierarchical approach［J］, Chinese Journal of Aeronautics, 34, 2, pp. 504-515, (2021)
  • [30] Leader-follower formation of light-weight UAVs with novel active disturbance rejection control ［J］, Applied Mathematical Modelling, 117, pp. 577-591, (2023)
1234