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首页> 外文期刊>International journal of aerospace engineering >Modelling and Simulation of Distributed UAV Swarm Cooperative Planning and Perception
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Modelling and Simulation of Distributed UAV Swarm Cooperative Planning and Perception

机译：分布式无人机群合作规划与认知的建模与仿真

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摘要

As an emerging topic, the swarm of autonomous unmanned aerial vehicles (UAVs) has been attracting great attention. Due to the indeterminacy of sensors, distributed cooperative swarms have been considered to be efficient and robust but challenging to design and test. To facilitate the development of distributed swarms, it has been proposed to utilise a simulation platform for cooperative UAVs using imperfect perception. However, the existing simulation platforms cannot satisfy this demand due to a few reasons. First, they are designed for a specific purpose, and their functionalities are difficult to extend. Second, the existing platforms lack compatibility to be applied to different types of scenarios. Third, the modelling of these platforms is too simplified to simulate flight motion dynamic and noisy communication accurately, which may cause a difference in performance between the simulation and real-world application. To address the mentioned issues, this paper models the problem and proposes a simulation platform for distributed swarm cooperative perception, which addresses software engineering concerns and provides a set of extendable functionalities of a cooperative swarm, including communication, estimation, perception fusion, and path planning. The applicability of the proposed platform is verified by simulations with the real-world application. The simulation results demonstrate that the proposed system is viable.
机译：作为一个新兴的话题，群体自主无人驾驶飞行器（无人机）一直吸引着极大的关注。由于传感器的不确定，分布式合作群被认为是有效且坚固的，但挑战设计和测试。为了促进分布式群的发展，已经提出了使用不完美的感知来利用用于合作无人机的模拟平台。但是，由于几个原因，现有的仿真平台无法满足这种需求。首先，它们是针对特定目的而设计的，并且它们的功能难以延伸。其次，现有平台缺乏应用于不同类型的情景的兼容性。第三，这些平台的建模太简单，以准确地模拟飞行运动动态和嘈杂的通信，这可能导致模拟和现实世界应用之间的性能差异。为了解决提到的问题，本文模拟了该问题，提出了一种用于分布式群合作知识的模拟平台，该平台解决了软件工程问题，并提供了一组合作群的可扩展功能，包括通信，估计，感知融合和路径规划。拟议平台的适用性通过与现实世界应用程序的模拟验证。仿真结果表明，所提出的系统是可行的。

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