中国科学院自动化研究所机构知识库

针对多无人机在局部信息条件下的动态多目标覆盖与连通保持问题, 在考虑无人机的目标覆盖能力和目标类型的因素 下, 提出了一种基于分布式协商的多无人机目标覆盖与连通保持算法. 设计了基于无人机覆盖能力的目标分组方法, 将单架无人 机所能覆盖的目标分为一组并视为一个目标, 以实现一对一的目标覆盖. 基于共识的拍卖算法设计了目标拍卖规则, 用于更新无 人机的目标列表. 通过设计协商一致与连通保持机制, 实现连通约束下的分布式协商目标优化分配. 通过仿真验证了算法在不同 参数配置下均表现出优越的协同覆盖性能。

Aiming at the problem of dynamic multi-target coverage and communication maintenance for multiple unmanned aerial vehicles （UAVs）with the local information, an algorithm for multi-UAV target coverage and connectivity maintenance based on distributed negotiation is proposed. The algorithm considers the target coverage capability of UAVs and different target types. Firstly, a target grouping method based on the coverage capability of UAVs is designed. The targets that a single UAV can cover are grouped and regarded as one target to achieve one-to-one target coverage. Secondly, based on the consensus-based auction algorithm, target auction rules are designed to update the list of targets for UAVs. Then, a consensus and connectivity maintenance mechanism is designed to achieve the optimal allocation of goals for distributed negotiation under connectivity constraints. Finally, comprehensive simulations are performed to verify the coverage performances of proposed algorithm in different environments.