引用本文:李实吉,胡谷雨,丁有伟.微型无人机集群低时延组网规划方法[J].控制与决策,2020,35(11):2696-2706
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微型无人机集群低时延组网规划方法
李实吉1,2,胡谷雨1, 丁有伟3
(1. 陆军工程大学指挥控制工程学院,南京210007;2. 解放军94619部队,安徽六安237132;3. 南京中医药大学信息技术学院,南京210016)
摘要:
微型无人机已广泛应用于航拍、植保、电力巡线等民用领域.但目前的微型无人机之间缺少信息交互和任务协作.针对搜索与营救场景,研究微型无人机集群的运动模式规划问题,以实现微型无人机的任务协同,完成对整个搜救区域的搜索,并将图像通过多跳传回地面.图像数据通常采用短距高吞吐量无线WiFi通信技术传输,但是WiFi有限的通信距离和微型无人机移动会引起网络中断,导致数据丢失,造成较大的传输时延.针对此问题,细致地考虑通信约束,提出基于卷地毯式搜索的组网规划算法,保证无人机网络的连通性,并据此设计非均匀节点部署方法和对应的同步/异步运动策略,可极大地降低时延,获得较好的节点负载均衡.
关键词:  微型无人机集群  搜索与营救  通信约束  组网规划  非均匀部署  低时延
DOI:10.13195/j.kzyjc.2018.1549
分类号:TP393
基金项目:军委科技委前沿创新项目(17-163-11-ZT-003-008-01).
A low delay networking planning method for micro UAV swarm
LI Shi-ji1,2,HU Gu-yu1,DING You-wei3
(1. Command & Control Engineering College,Army Engineering University of PLA,Nanjing210007,China;2. Unit 94619 of PLA, Luán237132,China;3. College of Information Technology,Nanjing University of Chinese Medicine,Nanjing210016,China)
Abstract:
Micro unmanned aerial vehicles(UAVs) have been widely used in civilian domains such as aerial photography, plant protection, and power line inspection. However, there is a lack of information interaction and task collaboration between micro UAVs at present. This paper studies the motion pattern planning of micro UAV swarms for search and rescue missions, to achieve the task coordination of micro UAVs, complete the missions for the entire search and rescue area, and transmit the images back to the ground through multiple hops. Image data is usually transmitted using short-range and high-throughput wireless WiFi communication technology, but the limited communication range of WiFi and the movement of micro UAVs can cause network interruption, packets lost and long delay. To solve the problem, communication constraints are carefully considered and a network planning algorithm based on blanket search is proposed to ensure the connectivity of UAV network. We design a non-uniform node deployment method and a corresponding synchronous/asynchronous motion stragegy, which can greatly reduce the delay and obtain better load balance.
Key words:  micro unmanned aerial vehicle swarm  search and rescue  communication constraint  networking planning  non-uniform deployment  low delay

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