【作者】 徐玉国； 刘培志； 查长流； 冯运铎； 邵佳星；

【Author】 XU Yuguo;LIU Peizhi;ZHA Changliu;FENG Yunduo;SHAO Jiaxing;Beijing Institute of Computer and Electronics Application;

【机构】 中国兵器工业计算机应用技术研究所；

【摘要】 建立了通用性异构多无人机协同算法仿真平台,不仅可以对无人机模型、载荷模型、任务序列和可能发生的故障进行配置,还支持自定义协同算法。多机协同算法仿真步骤如下:首先,将战场任务进行分解、分配;然后,对多无人机进行航路规划,形成无人机飞行和任务指令;最后,在执行任务中对无人机飞行安全进行管控。实验结果表明,仿真平台能够有效地模拟多机任务分配、航路规划和安全管控的协同过程。更多还原

【Abstract】 The paper establishes a general-purpose heterogeneous multi-UAV collaborative algorithm simulation platform,which can not only configure the UAV model,load model,task sequence and possible failures,but also support custom collaborative algorithms.The simulation experiment of the multi-UAV collaborative algorithm includes the following steps:the battlefield tasks are decomposed and assigned,the multi-UAV’s route is planned,the flight and mission instructions of the multi-UAV is formed,the flight safety of the multi-UAV is controled during the execution of the mission.The experimental result shows that the platform can effectively simulate the collaborative process of task assignment,route planning and safety management of the multi-UAV.更多还原