Offline optimization of sensor configuration and integration architecture for efficient cooperative navigation

Wang Hanyu; Wang Shizhuang; Zhan XingqunShen Jiawen

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Offline optimization of sensor configuration and integration architecture for efficient cooperative navigation

机译：Offline optimization of sensor configuration and integration architecture for efficient cooperative navigation

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摘要

Multi-agent cooperative navigation can improve navigation performance by taking advantage of interagent communication and relative-sensing capabilities. For Multi-Agent Systems (MAS), the achievable navigation performance, communication cost, computation complexity, and sensor cost are directly influenced by the sensor configuration and the integration architecture. To reduce hardware cost and computation/communication load, this paper proposes a feasible method to realize the offline design of sensor configuration and integration architecture for cooperative navigation. Specifically, this goal is achieved by solving a multi-objective combinatorial optimization problem, where the sensor configuration and integration architecture are considered as the optimization variables; the navigation performance requirement is the constraint; and the communication cost, computation complexity, and sensor cost are considered as the optimization objectives. This optimization problem is solved by a MultiObjective Simulated Annealing (MOSA) algorithm. Using a MAS with three unmanned aerial vehicles as an example, simulations are carried out to validate the proposed method, and the results show its feasibility and effectiveness. The Pareto solutions reveal the characteristics and applicability of different integration architectures in different scenarios, which is meaningful for practical applications.(c) 2022 Elsevier Masson SAS. All rights reserved.

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《Aerospace science and technology》 |2022年第4期|107491.1-107491.11|共11页
作者
Wang Hanyu; Wang Shizhuang; Zhan XingqunShen Jiawen;
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作者单位

Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai 200240, Peoples R China;

Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai 200240, Peoples R China|China State Shipbldg Corp, Lab Sci & Technol Marine Nav & Control, Beijing, Peoples R China;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
中图分类
关键词
Cooperative navigation; Sensor configuration; Integration architecture; Combinatorial optimization;

Offline optimization of sensor configuration and integration architecture for efficient cooperative navigation

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