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Cooperative Solution of Multi-UAV Rendezvous Problem with Network Restrictions

机译：具有网络约束的多无人机交会问题的合作解决方案

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摘要

By considering the complex networks, the cooperative game based optimal consensus (CGOC) algorithm is proposed to solve the multi-UAV rendezvous problem in the mission area. Firstly, the mathematical description of the rendezvous problem is established, and the solving framework is provided based on the coordination variables and coordination function. It can decrease the transmission of the redundant information and reduce the influence of the limited network on the task. Secondly, the CGOC algorithm is presented for the UAVs in distributed cooperative manner, which can minimize the overall cost of the multi-UAV system. The CGOC control problem and the corresponding solving protocol are given by using the cooperative game theory and sensitivity parameter method. Then, the CGOC method of multi-UAV rendezvous problem is proposed, which focuses on the trajectory control of the platform rather than the path planning. Simulation results are given to demonstrate the effectiveness of the proposed CGOC method under complex network conditions and the benefit on the overall optimality and dynamic response.
机译：通过考虑复杂网络，提出了基于合作博弈的最优共识算法（CGOC），以解决任务区的多UAV交会问题。首先，建立了交会问题的数学描述，并根据协调变量和协调函数提供了求解框架。它可以减少冗余信息的传输，并减少受限网络对任务的影响。其次，以分布式协同方式为无人机提出了CGOC算法，可以最大程度地降低多无人机系统的总体成本。利用协同博弈论和灵敏度参数法给出了CGOC控制问题及相应的解决方案。然后，提出了多UAV交会问题的CGOC方法，该方法着重于平台的轨迹控制而不是路径规划。仿真结果证明了所提出的CGOC方法在复杂网络条件下的有效性以及对整体最优性和动态响应的好处。

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  • 来源
    《Mathematical Problems in Engineering》 |2015年第10期|878536.1-878536.14|共14页
  • 作者

    Zhang Qingjie; Tao Jianwu; Yu Fei; Li Yingzhen; Sun Hongchang; Xu Wei;

  • 作者单位

    Aviat Univ Air Force, Changchun 130022, Peoples R China.;

    Aviat Univ Air Force, Changchun 130022, Peoples R China.;

    Aviat Univ Air Force, Changchun 130022, Peoples R China.;

    Aviat Univ Air Force, Changchun 130022, Peoples R China.;

    Aviat Univ Air Force, Changchun 130022, Peoples R China.;

    Aviat Univ Air Force, Changchun 130022, Peoples R China.;

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