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| 1 | Collision free 4D path planning for multiple UAVs based on spatial refined voting mechanism and PSO approach显示文摘In this paper, a four-dimensional coordinated path planning algorithm for multiple UAVs is proposed, in which time variable is taken into account for each UAV as well as collision free and obstacle avoidance. A Spatial Refined Voting Mechanism(SRVM) is designed for standard Particle Swarm Optimization(PSO) to overcome the defects of local optimal and slow convergence.For each generation candidate particle positions are recorded and an adaptive cube is formed with own adaptive side length to indicate occupied regions. Then space voting begins and is sorted based on voting results, whose centers with bigger voting counts are seen as sub-optimal positions. The average of all particles of corresponding dimensions are calculated as the refined solutions. A time coordination method is developed by generating specified candidate paths for every UAV, making them arrive the same destination with the same time consumption. A spatial-temporal collision avoidance technique is introduced to make collision free. Distance to destination is constructed to improve the searching accuracy and velocity of particles. In addition, the objective function is redesigned by considering the obstacle and threat avoidance, Estimated Time of Arrival(ETA), separation maintenance and UAV self-constraints. Experimental results prove the effectiveness and efficiency of the algorithm. | Yang LIU Xuejun ZHANG Yu ZHANG Xiangmin GUAN | 2019 | Chinese Journal of Aeronautics2019，32，6： | 20 |
| 2 | 无人机中继广播通信系统航迹优化方法显示文摘为了提高固定翼无人机中继广播通信系统链路传输的连通性,提出中继无人机航迹优化方法.首先分析了无人机中继广播通信系统单用户节点的中断概率近似计算公式,并以此为基础推导出了服务区域内所有用户节点平均中断概率的近似计算公式;然后基于服务区域内用户节点平均中断概率最小化准则提出了中继无人机的航迹优化方法,并进一步给出了最优航迹下单个用户节点的精确中断概率计算公式;最后通过计算机仿真验证了所提出方法的有效性. | 李冬霞 李春鸣 赵文强 刘海涛 | 2018 | 西安电子科技大学学报2018，45，3： | 10 |
| 3 | Energy Efficient Multi-Antenna UAV-Enabled Mobile Relay显示文摘In this paper, we study an energy efficient multi-antenna unmanned aerial vehicle(UAV)-enabled half-duplex mobile relaying system under Rician fading channels. By assuming that the UAV follows a circular trajectory at fixed altitude and applying the decode-and-forward relaying strategy, we maximize the energy efficiency by jointly designing beamforming, power allocation, circular radius and flight speed, subject to the sum transmit power constraint on source node and UAV relay node. First, we maximize the end-to-end signal-to-noise ratio by jointly designing beamforming and statistical power allocation. Based on the obtained beamforming and power allocation results, we then obtain a semi closed-form expression of energy efficiency, and finally maximize energy efficiency by optimizing flight speed and circular radius, allowing optimal circular radius to be obtained via numerical computation. Numerical results demonstrate that the proposed scheme can effectively enhance the system energy efficiency. | Qingheng Song Fuchun Zheng | 2018 | China Communications2018，15，5： | 8 |
| 4 | UAV navigation in high dynamic environments:A deep reinforcement learning approach显示文摘Unmanned Aerial Vehicle(UAV) navigation is aimed at guiding a UAV to the desired destinations along a collision-free and efficient path without human interventions, and it plays a crucial role in autonomous missions in harsh environments. The recently emerging Deep Reinforcement Learning(DRL) methods have shown promise for addressing the UAV navigation problem,but most of these methods cannot converge due to the massive amounts of interactive data when a UAV is navigating in high dynamic environments, where there are numerous obstacles moving fast.In this work, we propose an improved DRL-based method to tackle these fundamental limitations.To be specific, we develop a distributed DRL framework to decompose the UAV navigation task into two simpler sub-tasks, each of which is solved through the designed Long Short-Term Memory(LSTM) based DRL network by using only part of the interactive data. Furthermore, a clipped DRL loss function is proposed to closely stack the two sub-solutions into one integral for the UAV navigation problem. Extensive simulation results are provided to corroborate the superiority of the proposed method in terms of the convergence and effectiveness compared with those of the state-of-the-art DRL methods. | Tong GUO Nan JIANG Biyue LI Xi ZHU Ya WANG Wenbo DU | 2021 | Chinese Journal of Aeronautics2021，34，2： | 8 |
| 5 | 面向目标跟踪的多机协同通信保持控制显示文摘由于无人机存在通信和测量约束的情况,远程无人机执行持续目标跟踪任务时无法直接与地面站保持通信,需要其他无人机作为通信中继方可与地面站建立可靠的通信连接.基于Dubins曲线,采用最小转弯半径和航向调整相结合的方法对具有初始和终止航向角约束的多无人机进行协同航路规划,确保所有无人机同时到达指定位置,形成多机协同通信保持的初始构型.针对随机移动目标,在多机协同通信保持的动态过程中,考虑平台性能、通信约束、碰撞规避等约束条件,采用非线性模型预测控制(NMPC)实现无人机协同分布式在线优化.在确保无人机通信中继保持的前提下,有效提高了算法的实时性.仿真结果表明了该算法的有效性. | 朱黔 周锐 | 2015 | 控制理论与应用2015，32，11： | 6 |
| 6 | 频率选择性衰落信道DS-CDMA无人机中继通信系统航迹规划显示文摘无人机中继通信是实现远距离无线通信的一种重要技术手段,无人机的飞行航迹对无人机中继通信系统的链路传输可靠性存在显著的影响,在频率选择性衰落信道环境下研究了基于直序列码分多址(DS-CDMA)的无人机中继通信系统的航迹优化的问题。首先,给出了基于DS-CDMA的译码转发无人机中继通信系统的模型,并理论分析给出无人机中继通信系统的链路中断概率及平均误码率计算公式,以此为基础,基于链路中断概率最小化准则提出了中继无人机的航迹规划方法,最后通过仿真验证了所提出方法的正确性与有效性。研究表明:最大比值合并DS-CDMA无人机中继通信系统可充分获取频率选择性衰落信道提供的分集增益,显著改善链路传输的可靠性。 | 刘海涛 顾新宇 方晓钰 李冬霞 | 2019 | 航空学报2019，40，7： | 4 |
| 7 | 空时分组编码的无人机中继通信航迹规划方法显示文摘无人机(UAV)中继通信是实现远距离点对点无线通信的一种重要技术手段。为提高无人机中继通信系统链路传输的可靠性,提出基于空时分组编码的无人机放大转发中继通信传输方案,并基于双跳链路遍历容量最大化的准则给出了无人机最佳航迹规划方法,并进一步利用FM-EM算法给出了基于空时分组编码无人机中继通信系统的中断概率及遍历信道容量计算公式。计算机仿真表明:提出的方法显著优于传统的单发单收(SISO)无人机中继通信系统。 | 刘海涛 赵文强 李春鸣 李冬霞 | 2017 | 航空学报2017，38，9： | 2 |
| 8 | Relay movement control for maintaining connectivity in aeronautical ad hoc networks显示文摘As a new sort of mobile ad hoc network(MANET), aeronautical ad hoc network(AANET) has fleet-moving airborne nodes(ANs) and suffers from frequent network partitioning due to the rapid-changing topology. In this work, the additional relay nodes(RNs) is employed to repair the network and maintain connectivity in AANET. As ANs move, RNs need to move as well in order to re-establish the topology as quickly as possible. The network model and problem definition are firstly given, and then an online approach for RNs' movement control is presented to make ANs achieve certain connectivity requirement during run time. By defining the minimum cost feasible moving matrix(MCFM), a fast algorithm is proposed for RNs' movement control problem. Simulations demonstrate that the proposed algorithm outperforms other control approaches in the highly-dynamic environment and is of great potential to be applied in AANET. | 李杰 孙志强 师博浩 宫二玲 谢红卫 | 2016 | Journal of Central South University2016，23，4： | 2 |
| 9 | 无人机级联中继广播通信系统航迹优化方法显示文摘无人机航迹优化是提高无人机中继通信系统性能的重要方式之一。针对无人机级联中继广播通信系统,研究其在译码转发协议下的航迹优化方法。分析给出了无人机和用户的信噪比表达式,在此基础上提出了基于最大用户中断概率最小化准则的级联无人机航迹联合优化方法和分步优化方法,研究了2种航迹优化方法下系统链路的传输性能,给出了系统遍历容量和单个用户中断概率的数学表达式。通过计算机仿真分析验证了系统特征参数对级联中继无人机最优航迹和系统性能的影响。仿真结果表明:所提2种航迹优化方法性能基本一致,验证了航迹优化准则的有效性。 | 李冬霞 宋思雨 刘海涛 | 2023 | 西北工业大学学报2023，41，3： | 1 |
| 10 | 一种吞吐量优化的无人机飞行轨迹规划算法显示文摘基于无人机(Unmanned Aerial Vehicle,UAV)协作通信已成为满足下一代蜂窝用户需求的有效技术。UAV的飞行轨迹对通信服务质量有直接影响。为此,提出吞吐量优化的UAV飞行轨迹规划(UAV Trajectory Planning to Maximize Throughput,TPMT)算法。TPMT算法以最大化用户与UAV通信链路的吞吐量为目标函数,并通过求解目标函数规划UAV的飞行轨迹。先构建用户与UAV的信道模型,再建立最大化吞吐量的目标函数,然后,引用混合优化算法GASimplex求解目标函数。仿真结果表明,提出的TPMT算法能够快速收敛,并提高了吞吐量。 | 李春若 邹子贤 | 2021 | 火力与指挥控制2021，46，8： | 1 |
| 11 | DF-UAV中继广播通信系统航迹优化方法显示文摘无人机中继通信系统可以为用户提供高质量服务和多种业务辅助,而无人机航迹优化是无人机中继通信系统面临的关键技术问题之一。针对译码转发协议下的无人机中继广播通信系统,研究其航迹优化方法以提高系统链路传输性能。首先,建立了无人机中继通信系统模型,分析给出单用户链路中断概率和系统平均中断概率计算公式,在此基础上提出基于最大用户中断概率最小化准则的中继无人机航迹优化方法,并理论推导出系统的遍历容量精确数学表达式;接着通过计算机仿真分析验证了服务区域半径、最大转弯角、路径损耗因子、发射功率等系统特征参数对中继无人机最优航迹、系统中断性能和系统容量性能的影响,同时对比了相同的优化准则下两种中继转发协议的系统中断性能和容量性能。仿真实验表明,与放大转发协议相比,译码转发协议下的中断性能和容量性能均有明显提升,从而验证了所提航迹优化准则的有效性。 | 李冬霞 宋思雨 刘海涛 | 2023 | 西安电子科技大学学报2023，50，1： | 0 |
| 12 | 无线光协作无人机编队对地覆盖接入技术研究显示文摘复杂地形环境中,固定基站难以有效实现联网通信和用户接入,而利用多无人机协作可实现高覆盖、高速率、低延迟的多空基通信,满足特殊环境中多用户的无缝覆盖接入需求。提出无线光辅助多空基协作中继回传技术,利用无人机搭建无线激光中继链路与地面基站进行可靠快速数据回传,并利用无人机主动发送紫外光预警信号保障多无人机之间的飞行安全。无人机与地面移动终端的接入采用基于拍卖算法的分布式基站接入,保证空中基站对地面用户的无缝接入,实现空基网络拓扑的优化覆盖。 | 张彤 许杉 赵太飞 | 2019 | 激光杂志2019，40，9： | 0 |
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