Multi-UAV surveillance implementation under hierarchical dynamic task scheduling architecture

作     者：WU Wen-di WU Yun-long LI Jing-hua REN Xiao-guang SHI Dian-xi TANG Yu-hua 伍文迪;武云龙;李晶华;任小广;史殿习;唐玉华

作者机构：State Key Laboratory of High Performance Computing(HPCL)College of ComputerNational University of Defense TechnologyChangsha 410073China Artificial Intelligence Research Center(AIRC)National Innovation Institute of Defense Technology(NIIDT)Beijing 100071China Tianjin Artificial Intelligence Innovation Center(TAIIC)Tianjin 300457China 

基　　金：Project(2017YFB1301104)supported by the National Key Research and Development Program of China Projects(61906212,61802426)supported by the National Natural Science Foundation of China 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2020年第27卷第9期

页      码：2614-2627页

摘      要：In this paper,we consider a multi-UAV surveillance scenario where a team of unmanned aerial vehicles(UAVs)synchronously covers an area for monitoring the ground *** this scenario,we adopt the leader-follower control mode and propose a modified Lyapunov guidance vector field(LGVF)approach for improving the precision of surveillance trajectory ***,in order to adopt to poor communication conditions,we propose a prediction-based synchronization method for keeping the formation ***,in order to adapt the multi-UAV system to dynamic and uncertain environment,this paper proposes a hierarchical dynamic task scheduling *** this architecture,we firstly classify all the algorithms that perform tasks according to their functions,and then modularize the algorithms based on plugin ***,integrating the behavior model and plugin technique,this paper designs a three-layer control flow,which can efficiently achieve dynamic task *** order to verify the effectiveness of our architecture,we consider a multi-UAV traffic monitoring scenario and design several cases to demonstrate the online adjustment from three levels,respectively.

主 题 词：prediction-based synchronization dynamic task scheduling hierarchical software architecture 

学科分类：0810[工学-土木类] 0806[工学-电气类] 08[工学] 0805[工学-能源动力学] 0838[0838] 0703[理学-化学类] 0825[工学-环境科学与工程类] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1007/s11771-020-4486-8

馆 藏 号：203984129...