无人机多机协同对抗决策研究

针对多对多无人机之间的空战对抗,考虑对抗双方具有同等数量无人机的情况,利用影响图(ID)建立多无人机协同空战连续决策过程,使用贝叶斯推论对空战态势进行实时评估.根据评估结果,采用匈牙利算法完成目标的动态分配,将多无人机之间的对抗转化为动态的多个单架无人机之间的对抗,无人机在对抗中根据由双方态势所设计的决策规则进行机动决策.红蓝双方多无人机之间对抗仿真实验结果表明了所设计模型的有效性.国家自然科学基金资助项目(61673327);;航空科学基金资助项目(20160168001

Ant colony optimization with potential field heuristic for robot path planning

提出了一种未知环境下机器人路径规划的势场蚁群算法。该算法利用人工势场力和机器人与目标之间的距离构造机器人避障和移动的综合启发信息,并利用蚁群搜索机制在未知环境中寻找机器人从起始位置至目标位置的全局最优路径。所提出的算法将蚁群算法和人工势场法进行有效的结合,提高了常规蚁群算法对最优路径的搜索效率。通过仿真实验表明了所提出的算法用于机器人路径规划的有效性。A kind of ant colony optimization with potential field(ACOPF) heuristic,is proposed for path planning of a mobile robot in unknown environment.In the ACOPF,the potential field resultant and the distance between the robot and the goal are utilized to construct the comprehensive heuristic of robot for obstacle avoidance and moving.With this heuristic,an ant colony optimization(ACO) mechanism is used to search a global optimal path from the start point to the end point for a robot in an unknown environment.The proposed ACOPF combines ACO with potential field method(PFM) effectively and makes the optimal path finding more effective than using general ACO.Simulation results show that the proposed ACOPF is very effective and efficient for robot path planning.航空科学基金(20080768004)资助课

基于机器视觉技术的射击训练系统研究与设计

针对现有自动报靶系统只能简单评价射击成绩,不能全面了解射击技术水平的问题,本文设计了基于机器视觉技术的射击训练系统。系统采用图像处理技术、激光发射技术、数据挖掘技术、数据库管理技术等相关技术,实现了自动语音报靶和对射手据枪稳定性、击发稳定性、瞄准精确性等技术水平的智能评估

Unmanned aerial vehicles swarm conflict based on multi-agent system

本文将多agent系统引入到大规模无人机集群对抗决策系统中,给出了基于多agent系统的大规模无人机集群对抗决策方法.将机群中的每个无人机视为一个独立agent,建立了无人机运动模型,为无人机设计了独立的个体行为集,并针对每种行为给出了决策方法.通过每个个体无人机对其邻域环境的作用,涌现出宏观的集群对抗(作战)效果.使用MATLAB仿真软件对所设计的大规模无人机集群对抗方法进行了仿真,验证了所设计的基于多agent系统的大规模无人机集群对抗决策方法的有效性.The multi-agent system theory is employed to build the maneuvering decision-making model for large-scale unmanned aerial vehicle(UAV) swarm conflict. In this model, each UAV in the swarm is regarded as one independent agent. With the establishment of UAV motion equation, individual behavior set and action criterion, each UAV keeps on interacting with its neighboring environment and the UAV swarm conflict outcome emerges eventually from such a process. Simulation experiments are conducted using MATLAB and the results demonstrate the effectiveness of the built decision-making model for UAV swarm conflict.航空科学基金项目(20140168001)资助~

Decision-Making for Air Combat Dogfight

基于敌对的两机空战背景,利用不断更新的威胁态势作为飞行员的决策依据,采用影响图分析法描述空战飞行员的决策过程,建立了空战飞行员的决策模型.其特点是空战威胁态势的评估及决策方式易于根据飞行员的经验和偏好进行描述与调整.仿真结果表明,利用所建立的空战决策模型可以有效地导引战机格斗,决策过程符合空战格斗理念.Considering a scenario of air combat involving two opposing fighter aircrafts,a decision-making model for the pilot in air combat is established.The model is based on a situation of continually updated threat.An influence diagram analysis method is employed to describe the pilot decision-making process.Evaluation of air combat threat and the decision-making behavior are easy to describe and modify,if necessary,according to the experience and preference of the individual pilot.Simulation results show that the proposed model is effective to guide the fighter aircraft during air combat dogfight,and its decision-making process conforms to the concept of air combat dogfight.航空科学基金资助项目(02F15001

凹多边形区域覆盖无人机航迹规划方法

覆盖航迹规划技术对于提高无人机的目标搜索能力和正确完成任务能力具有重要的意义。针对凹多边形区域形状,本文提出一种无人机覆盖算法,该算法旨在协助无人机自主完成无遗漏地覆盖搜索给定区域。首先,描述了如何选取无人机的飞行方向;其次,给出了如何将凹多边形转变为凸多边形的流程,并详细说明无人机覆盖区域的过程;最后,通过仿真示例验证了算法的有效性与正确性。国家自然科学基金项目(61673327);;航空科学基金项目(20160168001

A Survey on Guidance Laws for Flight Vehicle

对飞行器追踪拦截导引律方法、特点及其发展进行了研究与总结,包括比例导引律、最优导引律、微分对策导引律以及基于现代控制理论设计的导引律,可为今后飞行器导引律的改进和设计提供参考。Study and summary are made on the guidance law methods and their characteristics, applications and development for flight vehicle pursuit and interception.The discussed guidance laws include Proportional Guidance Law, Deferential Game Guidance Law, Optimal Guidance Law and Modern Control Theory based Guidance Law.The work of this paper is expected o provide reference for the improvement and design of guidance law for the flight vehicles in the future.航空科学基金项目(20080768004

Air-Combat Decision-Making for UAVs Cooperatively Attacking Multiple Targets

中文摘要：针对超视距空战中多架无人机对空中的多个敌对目标进行协同攻击的决策问题进行了研究。首先，对空战威胁态势进行了分析，基于对各攻击目标至少分配一枚导弹的原则，将协同多目标攻击决策问题转化为导弹目标攻击配对的优化问题并建立其攻击效能评估模型。然后，提出了一种模拟退火遗传算法用于该决策问题的寻优。最后，通过所得最佳导弹目标分配个体求得最终协同攻击决策方案。仿真结果表明所提出的算法能有效地求解协同多目标攻击决策问题，其对最优解的搜索效率明显优于单一的遗传算法。 英文摘要：Abstract: Considering a Beyond Visual Range (BVR) air combat scenario with a group of UAVs versus multiple hostile airborne targets, the decision-making problem for Cooperative Attack on Multiple Targets (CAMT) was investigated. First, the air combat threat situation was analyzed. Based on the principle of each target to be attacked at least being assigned one missile, the decision-making for CAMT was converted into a Missile-Target Assignment (MTA) optimization problem with the establishment of the attack effectiveness evaluation model. Then, a Simulated Annealing Genetic Algorithm (SAGA) was proposed to find out the optimal solution to the MTA problem. Finally, the final decision-making solution to the CAMT was derived from the obtained best missile-target assignment individual. Simulation results show that the proposed method is more effective than Genetic Algorithm (GA) to deal with the decision-making problem for CAMT.基金项目：国家自然科学基金(60604009）；航空科学基金(2006ZC51039)；厦门大学985 二期信息创新平台项

Research on Air Combat Decision-making for Cooperative Multiple Target Attack Using Heuristic Ant Colony Algorithm

协同多目标攻击空战决策是现代战机在超视距条件下进行协同空战的关键技术之一。它是寻求一个优化分配方案,将目标分配给各友机,力求使攻击效果最优。本文在对协同多目标攻击战术进行深入分析的基础上,提出了一种用于空战决策的启发式蚁群算法,该算法通过求解友机导弹对目标的最优分配来确定空战决策方案。仿真实验表明所提出的启发式蚁群算法对最优解的搜索效率明显优于基本蚁群算法,是一种求解协同多目标攻击空战决策问题的有效算法。The air combat Decision-Making(DM)for Cooperative Multiple Target Attack(CMTA)is one of the key techniques for modern fighters performing cooperative air combat under the Beyond Visual Range (BVR)condition.It is to find a proper assignment of the friendly fighters to the hostile fighters to achieve the optimal attack effect.In this paper,based on the deep analysis of the CMTA tactics,a Heuristic Ant Colony Algorithm(HACA)is proposed to solve the DM problem.The HACA obtains the DM solution by searching for the optimal assignment of the missiles of the friendly fighters to the hostile fighters.Simulation results show that the search efficiency of the proposed algorithm is obviously superior to that of basic Ant Colony Al- gorithm(ACA).It is an effective algorithm to deal with the DM problem for CMTA in air combat.国家自然科学基金(60604009);; 厦门大学985二期信息创新平台基金;; 福建省教委科技基金(JA05290

Hydrothermal synthetic ZnAl_2O_4 and Humidity sensing properties research

以Al2(SO4)3和zn(nO3)2为原料,采用水热法合成铝酸锌微粉体,通过扫描电镜和Xrd分析发现znAl2O4晶型良好,粒径小,呈纤维状均匀分布;进一步研究湿敏特性,结果表明:测试频率对阻抗-相对湿度(rH)特性曲线影响较大,阻抗随频率的增加而迅速减小,10kHz时在33%~95%的范围内曲线的线性度好,在相同的湿度下,试样的电容随频率的增加而减小,在低频100Hz下,电容随相对湿度的升高而增大。A simple hydrothermal was developed to fabricate ZnAl2O4 micro powder with Al2(SO4)3 and Zn(NO3)2 as raw materials,through the scanning electron microscopy(SEM)and XRD analysis found that the particles have good crystal shapesmall size,fibrous evenly distributed;Further researching the humidity sensing properties,the results show that test frequency have big effect on impedance-relative humidity(RH)characteristic curve,impedance decreases as frequency increases,the good linearity of the curve of impedance versus relative humidity appears at the frequency of 10KHZ,the capacitance of the sensor decreases as frequency increases in the same humidity and at low measurement frequency 100HZ,the capacitance increases as RH increases