| 基于图形模型动态感知下的多无人机航迹协同 |
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| 引用本文： | 郭文强,高晓光,肖秦琨.基于图形模型动态感知下的多无人机航迹协同[J].控制与决策,2008,23(12):1407-1412. |
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| 作者姓名： | 郭文强 高晓光 肖秦琨 |
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| 作者单位： | 西北工业大学,电子信息学院,西安,710072 |
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| 基金项目： | 国家自然科学基金
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国家自然科学基金重大项目
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| 摘 要： | 为解决对当前形势估计不足以及对未来情况预测的问题.采用图形模型中动态贝叶斯网络(DBN)建立突发威胁体感知的模型,利用DBN的状态转移网络、观测转移网络及DBN的学习和推理算法,实现了对突发威胁体的动态感知.提出一种基干图形模型动态感知下的多架无人机航迹协同规划方法,并据此实现多无人机飞行航迹协同规划.仿真结果表明了这种基于图形模型动态感知下的多架无人机协同方法的正确性和可行性.
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| 关 键 词： | 动态贝叶斯网络 无人机 动态感知 协同航迹规划 |
| 收稿时间： | 2007/10/8 0:00:00 |
| 修稿时间： | 2008/1/29 0:00:00 |
Multiple UAVs cooperative trajectory planning via dynamic sensing based on graphical model |
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| GUO Wen-qiang,GAO Xiao-guang,XIAO Qin-kun.Multiple UAVs cooperative trajectory planning via dynamic sensing based on graphical model[J].Control and Decision,2008,23(12):1407-1412. |
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| Authors: | GUO Wen-qiang GAO Xiao-guang XIAO Qin-kun |
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| Affiliation: | GUO Wen-qiang,GAO Xiao-guang,XIAO Qin-kun(School of Electronic , Information,Northwestern Polytechnical University,Xi'an 710072,China. |
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| Abstract: | Focusing on solving the shortage problems of present situation estimation and future forecasting,dynamic sensing model for pop-up threats is established by dynamic Bayesian network(DBN),which is a kind of graphical models.Dynamic sensing for pop-up threats can be achieved by parameters'change in relative DBN's transition networks and DBN's learning and inference algorithm.An autonomous optimization for multiple UAVs cooperative path planning based on DBN is proposed,which supplies the realization foundation... |
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| Keywords: | Dynamic Bayesian network(DBN) Unmanned air vehicles(UAVs) Dynamic sensing Cooperative trajectory planning |
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