Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target
To reduce the impact of uncertainties caused by unknown motion parameters on searching plan of moving targets and improve the efficiency of UAV’s searching, a novel distributed Multi-UAVs cooperative search control method for moving target is proposed in this paper. Based on detection results of onb...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/317953 |
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| _version_ | 1832565488299802624 |
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| author | Chang-jian Ru Xiao-ming Qi Xu-ning Guan |
| author_facet | Chang-jian Ru Xiao-ming Qi Xu-ning Guan |
| author_sort | Chang-jian Ru |
| collection | DOAJ |
| description | To reduce the impact of uncertainties caused by unknown motion parameters on searching plan of moving targets and improve the efficiency of UAV’s searching, a novel distributed Multi-UAVs cooperative search control method for moving target is proposed in this paper. Based on detection results of onboard sensors, target probability map is updated using Bayesian theory. A Gaussian distribution of target transition probability density function is introduced to calculate prediction probability of moving target existence, and then target probability map can be further updated in real-time. A performance index function combining with target cost, environment cost, and cooperative cost is constructed, and the cooperative searching problem can be transformed into a central optimization problem. To improve computational efficiency, the distributed model predictive control method is presented, and thus the control command of each UAV can be obtained. The simulation results have verified that the proposed method can avoid the blindness of UAV searching better and improve overall efficiency of the team effectively. |
| format | Article |
| id | doaj-art-0bfe31e611e14ba8bab90afa06481ece |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-0bfe31e611e14ba8bab90afa06481ece2025-02-03T01:07:28ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742015-01-01201510.1155/2015/317953317953Distributed Cooperative Search Control Method of Multiple UAVs for Moving TargetChang-jian Ru0Xiao-ming Qi1Xu-ning Guan2Aeronautics and Aerospace Engineering College, Air Force Engineering University, Xi’an 710038, ChinaAeronautics and Aerospace Engineering College, Air Force Engineering University, Xi’an 710038, ChinaThe First Aviation University of Air Force, Xinyang 464000, ChinaTo reduce the impact of uncertainties caused by unknown motion parameters on searching plan of moving targets and improve the efficiency of UAV’s searching, a novel distributed Multi-UAVs cooperative search control method for moving target is proposed in this paper. Based on detection results of onboard sensors, target probability map is updated using Bayesian theory. A Gaussian distribution of target transition probability density function is introduced to calculate prediction probability of moving target existence, and then target probability map can be further updated in real-time. A performance index function combining with target cost, environment cost, and cooperative cost is constructed, and the cooperative searching problem can be transformed into a central optimization problem. To improve computational efficiency, the distributed model predictive control method is presented, and thus the control command of each UAV can be obtained. The simulation results have verified that the proposed method can avoid the blindness of UAV searching better and improve overall efficiency of the team effectively.http://dx.doi.org/10.1155/2015/317953 |
| spellingShingle | Chang-jian Ru Xiao-ming Qi Xu-ning Guan Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target International Journal of Aerospace Engineering |
| title | Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target |
| title_full | Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target |
| title_fullStr | Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target |
| title_full_unstemmed | Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target |
| title_short | Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target |
| title_sort | distributed cooperative search control method of multiple uavs for moving target |
| url | http://dx.doi.org/10.1155/2015/317953 |
| work_keys_str_mv | AT changjianru distributedcooperativesearchcontrolmethodofmultipleuavsformovingtarget AT xiaomingqi distributedcooperativesearchcontrolmethodofmultipleuavsformovingtarget AT xuningguan distributedcooperativesearchcontrolmethodofmultipleuavsformovingtarget |