基于滚动时域决策的异构无人集群跨域协同搜索路径规划

陈杰; 赵斌; 王政陽; 柳明江; 周敏

doi:10.12382/bgxb.2025.0996

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基于滚动时域决策的异构无人集群跨域协同搜索路径规划

更新时间：2026-05-09

- 基于滚动时域决策的异构无人集群跨域协同搜索路径规划
- Cross-Domain Cooperative Search Path Planning for Heterogeneous UAV Swarms Based on Receding Horizon Decision-Making
- 兵工学报 2026年
- 作者机构：
  
  西北工业大学精确制导与控制研究所,陕西,西安,710072
- 作者简介：
- 基金信息：
  
  国家自然科学基金项目(62373307)
- DOI：10.12382/bgxb.2025.0996
  中图分类号： TP181
- 收稿：2025-11-10，
  
  网络首发：2026-05-09，
- 稿件说明：
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陈杰，赵斌，王政陽，等. 基于滚动时域决策的异构无人集群跨域协同搜索路径规划[J/OL]. 兵工学报, 2026(2026-05-09). https://doi.org/10.12382/bgxb.2025.0996.

CHEN J, ZHAO B, WANG Z, et al. Cross-domain cooperative search path planning for heterogeneous uav swarms based on receding horizon decision-making[J/OL]. Acta Armamentarii, 2026(2026-05-09). https://doi.org/10.12382/bgxb.2025.0996. (in Chinese)
陈杰，赵斌，王政陽，等. 基于滚动时域决策的异构无人集群跨域协同搜索路径规划[J/OL]. 兵工学报, 2026(2026-05-09). https://doi.org/10.12382/bgxb.2025.0996. DOI：

CHEN J, ZHAO B, WANG Z, et al. Cross-domain cooperative search path planning for heterogeneous uav swarms based on receding horizon decision-making[J/OL]. Acta Armamentarii, 2026(2026-05-09). https://doi.org/10.12382/bgxb.2025.0996. (in Chinese) DOI：

摘要

无人机-水面无人艇-水下自主航行器组成的跨域无人集群在水下目标探测方面有着广阔的应用前景。针对水下静止目标，提出一种滚动时域决策优化方法，在考虑通信及多障碍约束的条件下实现多无人系统跨域协同搜索的路径规划。通过栅格化地图和目标先验信息设计了面向异构无人编队协同搜索的目标函数，并引入避障惩罚项处理多障碍约束；其次，将分布式模型预测控制与遗传算法相结合进行在线决策，提出了满足跨域无人集群机动性约束的跳跃网格决策方法；设计搜索特征信息交互方法解决通信约束问题并进行了仿真实验。仿真结果表明，与仅在相邻网格内移动的基线方法相比，所提方法可使全局不确定性至少降低9.20%，目标存在概率至少降低34%，且在通信约束下仍能高效完成水下目标协同搜索。

Abstract

A cross-domain unmanned cluster composed of unmanned aerial vehicles (UAVs)

unmanned surface vessels (USVs)

and autonomous underwater vehicles (AUVs) has broad application prospects in underwater target detection. Focusing on stationary underwater targets

this paper proposes a receding-horizon decision-making optimization method to realize cross-domain cooperative search path planning for multiple unmanned systems under communication and multi-obstacle constraints. First

based on a gridded map and prior information of the target

a cooperative search objective function for heterogeneous unmanned formations is designed

and an obstacle-avoidance penalty term is introduced to handle multi-obstacle constraints. Second

by combining distributed model predictive control with a genetic algorithm for online decision-making

a jump-grid decision method is proposed that satisfies the maneuverability constraints of the cross-domain unmanned cluster. Finally

a search-feature information interaction method is designed to address communication constraints

and simulation experiments are conducted. The results show that

compared with a baseline method that only moves in adjacent grids

the proposed method can reduce the global uncertainty by at least 9.20% and decrease the target existence probability by at least 34%

while still achieving efficient cooperative search for underwater targets under communication constraints.

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references

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