基于CPSO算法的海空跨域无人航行器集群协同作业路径规划.pdf

第 5 卷第 1 期 无人系统技术
202rithm based on cooperative particle swarm Optimization (CPSO) was
proposed to track underwater targets by sea-air cross-domain unmanned vehicle cluster in complex water environment.
In the CPSO algorithm, firstly, the flight path is planned for the UAVs, and obstacles in the water navigation area are
detected during the UAV flight. Then, a complete surface obstacle distribution map is generated for unmanned surface
vehicles (USVs) cluster. Subsequently, CPSO algorithm was used to plan the cooperative navigation path for USVs, and
the underwater navigation environment map was generated for autonomous underwater vehicles (AUVs) during the
cluster navigation. Finally, CPSO algorithm plans the underwater navigation path for AUVs, and AUV completes the
underwater target tracking task. The simulation results show that the CPSO algorithm plans a valid path for the sea-air
cross-domain unmanned vehicle cluster, and realizes the function of unmanned vehicle cluster cooperative operation

收稿日期：2021–08–30；修回日期：2021–10–28
基金项目：国家自然科学基金（62073251, 52022073）；湖北省自然科学基金（2020CFA055）第 1 期 殷 翔等: 基于 CPSO 算法的海空跨域无人航行器集群协同作业路径规划 27

tracking of underwater targ