摘要： 目前多数使用固定翼无人机(UAV)跟踪地面目标的方法需要一个或多个严格假设,限制了UAV的使用方式。针对该问题,提出一种基于博弈论的UAV跟踪方法。使用四阶动力学方程进行跟踪目标和UAV的初始化建模,对2个动态方程式集合运用零阶保持以获取整个系统的离散动态时间,得到博弈目标函数,并利用动态规划确定最优控制策略。使用单相机固定翼UAV的仿真实验验证了该方法的有效性,与基于分段引导方法和视觉私服控制方法相比,其仰角和距离参数的方差较小,可将目标控制在可视范围内。此外,讨论风对实验的影响,结果表明,该方法可使UAV的最大抵抗风速达到6 m/s。

关键词: 固定翼无人机, 无人机跟踪, 四阶动力学方程, 博弈论, 动态规划

Abstract: At present,majority methods of tracking ground target using fixed-wing Unmanned Aerial Vehicle(UAV) need one or more strict assumptions,which limits the use of UAV.Aiming at this problem,a method of UAV tracking based on game theory is proposed.Firstly,a fourth-order dynamic equation is used to model and initialize the tracked objects and UAV.Then,discrete dynamic time of the whole system is obtained by Zero-order Hold(ZOH) of two dynamic equations,with getting the game objective function.Finally,dynamic programming is used to determine the optimal control strategy.The effectiveness of the proposed method is verified by simulation results under practical applications using a fixed-wing UAV with single camera.Compared with the methods based on segmentation guiding and visual servo control,the proposed method has smaller variances of elevation and distance,so the target is always in the visible range.In addition,wind is considered in the experiments.The experimental results show that the maximum wind speed resisted by UAV in a conservative estimation is 6 m/s around.

Key words: fixed-wing Unmanned Aerial Vehicle(UAV), UAV tracking, fourth order dynamic equation, game theory, dynamic programming

中图分类号: 

• TP391