多个无人机的分布式协调运动控制以优化空地中继网络为导向
1School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China. taocancan@buaa.edu.cn.
Scientific reports
|December 29, 2024
概括
本研究介绍了多个无人机作为通信中继的自适应控制方法. 该方法通过优化无人机位置来提高地面车辆的网络连接和通信性能.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 无线通信无线通信
- 网络工程 网络工程
背景情况:
- 协调多个无人驾驶飞行器 (UAV) 进行通信中继,由于用户的移动性不可预测,对信号传播的环境影响和位置数据有限,因此存在挑战.
- 现有的方法往往难以将这些动态因素整合到无人机继电器的有效运动控制策略中.
研究的目的:
- 为多个无人机通信中继系统开发一种基于自适应模型的新型运动控制方法.
- 提高地面移动网络的网络连接性和通信性能.
- 解决无人机协调的复杂性,包括未知的用户流动性和环境道效应.
主要方法:
- 利用图形理论和最小跨度树来构建网络连接,并定义通信性能指数.
- 实施了多无人机运动控制策略,结合了改进的粒子群优化 (IPSO) 和分布式非线性模型预测控制 (DNMPC).
- 采用卡尔曼波器来估计移动地面节点的未来位置.
主要成果:
- 模拟演示了该方法引导无人机到最佳中继位置或有效追踪无人机的能力.
- 在简单和复杂的模拟环境中观察到网络性能显著改善.
- 该研究证实了在无人机中继控制中考虑对通道特性的环境影响的重要性.
结论:
- 拟议的基于自适应模型的运动控制方法成功地提高了多无人机通信中继的性能.
- 综合方法有效地管理复杂的变量,如流动性,环境因素和协调.
- 这项研究提供了一个强大的解决方案,用于改进使用无人机中继的无线通信网络.
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