面向多点动态集结任务的空地无人化移动平台分布式协同规划方法研究

The cooperation between unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV) provides a promising way to perform many complex and hazardous tasks in large areas (e.g., regional reconnaissance and target attack, forest fire fighting, leakage detection and treatment of toxic gas) by multiple platforms. This approach has prominent advantages such as reducing casualties and improving operation efficiency. In this project, we will use a unified task framework, namely multi-point dynamic aggregation (MPDA), to depict and formulate these complex tasks, and research into the planning problems about one UAV and multiple UGVs in cooperatively performing MPDA tasks. According to the constrained relation between UAV and UGV determined by their roles, we will delve into the autonomous flight planning methods for UAV, the inter-team distributed task planning methods for UGVs which are organized into multiple teams, as well as the distributed coordinated motion planning methods for UGVs belonging to the same team. Algorithm ensemble including diverse intelligent optimization methods will be designed and employed as the means to solve various optimization problems involved in the system. In this way, a set of fast, adaptive and robust autonomous planning methods for heterogeneous multiagent systems based on UAV and UGV to perform MPDA tasks will be finally proposed. The research will enable UAV and UGV to cooperate with each other in large-area collaborative operations in an autonomous and flexible way, and provide theoretical and methodological support for using UAV and UGV to cooperatively performing MPDA tasks.

空中与地面无人化移动平台的协同为通过多平台的大范围协同作业来执行区域侦察与目标打击、森林救火、有毒气体泄漏检测与处理等复杂危险任务提供了一种理想方法，具有减少人员伤亡、提高作业效率等显著优点。本项目采用多点动态集结(MPDA)的统一任务框架对这些复杂任务进行描述，并针对单个无人机(UAV)和多个无人车(UGV)在协同执行MPDA任务中的规划问题进行研究。根据任务角色形成的UAV与UGV相互约束关系，以包括智能优化方法在内的算法综合体为手段，通过深入研究UAV的自主航路规划方法、UGV小组的组间分布式任务规划方法以及UGV小组内部的分布式协调运动规划方法，建立起一套面向MPDA任务的UAV/UGV异构多智能体快速适应性鲁棒自主规划方法。该研究将以一种更加灵活的形式和方法赋予空/地无人移动平台大范围自主协同作业的能力，为UAV/UGV协同执行多点动态集结这一类复杂任务提供理论和方法支持。

UGV/UAV协同执行MPDA任务中的规划问题应用背景广泛，但具有强约束、不确定性、任务动态演化等特点，对规划方法的实时性、鲁棒性、适应性和快速性要求高，其研究具有重要的学术意义和应用价值。本课题根据任务角色形成的UAV与UGV相互约束关系，深入研究了UAV的自主航路规划方法、UGV小组的组间分布式任务规划方法以及UGV小组内部的分布式协调运动规划方法，建立了一套面向MPDA任务的UAV/UGV异构多智能体快速适应性鲁棒自主规划方法。此外，建立了UAV/UGV异构多智能体系统协同执行MPDA任务的仿真验证系统和实验验证系统，验证了方法的有效性。