Multiple Unmanned Aerial Vehicle (uav) Based On The Collaborative Technology Area Surveillance Studies

Cooperative region surveillance of multiple Unmanned Aerial Vehicles (UAV)will be the main manner to get battlefield information in the future, and cooperativeregion surveillance is also a very important operation style for multiple UAVs. It is ofgreat theoretical and practical value both in military and civilian areas. However, thereare little research for how to control a team of UAVs to perform region surveillancemission in the complex environment effectively in our country. This dissertation studiesthe swarm motion control, avoid obstacle planning and region surveillance strategy formulti-UAVs cooperative region surveillance problem. The main works are as follows:Firstly, by thorough analysis on the basic region surveillance problem, we definethe multi-UAVs cooperative region surveillance problem and establish the simulationscene. The factors including space decomposition airborne sensor and networkcommunication are summarized, and the corresponding models were establishedrespectively. The characteristics of multi-UAVs cooperative region surveillanceproblem are analyzed. They are system dispersion, multi platform cooperative,information finity and environmental uncertainty. The multi-UAVs cooperative regionsurveillance problem is divided into three key sub-problems, which are the swarmmotion control, avoid obstacle planning and region surveillance strategy.Secondly, the motion control of UAV swarm is discussed in detail..According tothe requirements of the swarm motion, we analyze the Reynolds’ Flocking methodapplicability, and on the basis of its control rules: separation, coherence and alignment,the Boids model is established. At the same time, in order to solve the problem thatBoids model UAV flight path is too long to reach the target point, the leader patternBoids model is introduced. The UAVs are divided into leader UAV and follower UAV,respectively. Simulation results show that, the improved model can not only satisfy therequirements of the swarm motion, but also reduce the time to reach the target point.Thirdly, the multi-UAVs avoid obstacle planning is discussed. In order to keepthe swarm motion mode required by region surveillance problem in obstacle avoidanceprocess, we use the artificial potential field method and give the method about the combination with the Boids model. Then taking the flight dynamics constraints intoaccount, we establish the simplified dynamic model. On this foundation, we establishthe multi-UAVs obstacle avoidance planning simulation model based on artificialpotential field method. Simulation experiment shows the method is effective.Finally, based on the principle of the pheromone, the region surveillance strategybased on the digital pheromone is described, We give the calculation equations ofpheromone. According to the definition of multi-UAVs Cooperative region surveillanceproblem, the region surveillance strategy combined with digital pheromone and theleader pattern Boids model is introduced. Through the simulation experiment, thisstrategy can not only satisfy the swarm motion requirements, but also effectivelyimplement the region surveillance task. Compared with the scan line strategy, theexperimental results were analyzed.