基于共识理论的多无人机协同编队跟踪方法

2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics Pub Date : 2013-08-26 DOI:10.1109/IHMSC.2013.182

Xia Chen, Chong Zhang

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引用次数: 11

摘要

针对多架无人机编队协同跟踪问题，提出了一种分散协同跟踪控制方法。通过建立无人机粒子运动模型和无人机编队模型，建立了基于共识算法的多无人机编队跟踪运动模型，进而提出了基于共识算法的多无人机编队跟踪方法，实现了实时跟踪敌方无人机编队的目的。仿真结果表明，该方法能有效合理地解决多无人机跟踪多无人机编队的控制问题。

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The Method of Multi Unmanned Aerial Vehicle Cooperative Tracking in Formation Based on the Theory of Consensus

Considering the problem of multi unmanned aerial vehicle (UAV) cooperative tracking multi-UAV formation, a decentralized cooperative tracking control method is presented. Through the establishment of UAV particle motion model and the UAV formation model, the multi-UAV formation tracking motion model by using the consensus algorithm is established, then multi-UAV formation tracking method Based on consensus algorithm is proposed, and the purpose of tracking hostile UAV formation in real time is achieved. The simulation results demonstrate that the method could solve the control problem of multi-UAV tracking multi-UAV formation effectively and reasonably.

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2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics

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