针对持续监视问题开展多无人机协同搜索策略研究。将模糊数学理论引入协同搜索领域,提出了基于模糊c均值聚类的多无人机协同搜索策略,克服了常见多无人机协同搜索策略由于重复搜索与频繁转场导致搜索代价无功消耗的不足。在此基础上考虑无人机动力学约束,以提高搜索策略的工程实用性。最后,通过数值仿真对FCM搜索策略进行效能分析。仿真结果表明,与常见多无人机协同搜索策略相比,该策略具有搜索效率高与稳定性强的优势。

Cooperative search strategy for multiple UAVs was studied for the persistent surveillance problem. Through adopting the theory of fuzzy mathematics in the field of cooperative search, the cooperative search strategy for multiple UAVs based on fuzzy c-mean cluster (FCM) was proposed. The newly developed strategy overcomes the shortage of the useless search cost resulted from repeated searching and frequently transiting from one cell to another. Additionally, the UAV's dynamics constraint was considered to improve the practicality of the FCM strategy. The performance of the FCM strategy was analyzed through numerical simulations. The results show that the FCM strategy has the advantages of high efficiency and excellent stability.