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首页> 外文期刊>Journal of guidance, control, and dynamics >Distributed Cooperative Onboard Planning for the Conflict Resolution of Unmanned Aerial Vehicles
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Distributed Cooperative Onboard Planning for the Conflict Resolution of Unmanned Aerial Vehicles

机译：分布式合作机载计划以解决无人机冲突

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摘要

The distributed cooperative onboard conflict resolution problem of unmanned aerial vehicles is studied in this paper. First, the dynamics of unmanned aerial vehicles and the safe separation constraint are studied. The monotonicity feature of the constraint condition is analyzed. The distributed conflict resolution problem is modeled as a distributed constraint optimization problem. Second, the distributed constraint optimization problem is solved in two steps. The feasible solutions are searched first, and the overall costs are minimized thereafter. The distributed stochastic gradient descent method is proposed to search the local near-optimal solutions. The self-improving mechanism is proposed to enhance the utilization efficiency of data exchanged among unmanned aerial vehicles. The "virtue adjustment" theorem is defined to motivate the cooperative coordination between unmanned aerial vehicles. Simulation results show that, compared with existing short-term algorithms, our algorithm could reduce the summation of additional flight distances and impacts on flight plans of unmanned aerial vehicles significantly and coordinate the flights of unmanned aerial vehicles in complex scenarios.
机译：研究了无人机的分布式协同机载冲突解决问题。首先，研究了无人机的动力学特性和安全间隔约束。分析了约束条件的单调性特征。分布式冲突解决问题被建模为分布式约束优化问题。其次，分两步解决分布式约束优化问题。首先搜索可行的解决方案，然后将总成本降至最低。为了寻找局部近最优解，提出了一种分布式随机梯度下降方法。提出了一种自我完善机制，以提高无人机之间交换数据的利用效率。定义“虚拟调整”定理以激励无人飞行器之间的协同协调。仿真结果表明，与现有的短期算法相比，该算法可以显着减少额外飞行距离的总和，并减少对无人机飞行计划的影响，并在复杂场景下协调无人机飞行。

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  • 来源
    《Journal of guidance, control, and dynamics》 |2019年第2期|272-283|共12页
  • 作者

    Yang Jian; Yin Dong; Niu Yifeng; Shen Lincheng;

  • 作者单位

    Natl Univ Def Technol, Coll Intelligence Sci & Technol, 109 Deya Rd, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Intelligence Sci & Technol, 109 Deya Rd, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Intelligence Sci & Technol, 109 Deya Rd, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Intelligence Sci & Technol, 109 Deya Rd, Changsha 410073, Hunan, Peoples R China;

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