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Development of multi-dimensional information gathering system by using a collective motion control of aerial and ground vehicles

空中与地面车辆集体运动控制多维信息采集系统开发

基本信息

批准号：
23360382
负责人：
INADA YOSHINOBU
金额：
$ 11.73万
依托单位：
Tokai University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2011
资助国家：
日本
起止时间：
2011-04-01 至 2014-03-31
项目状态：
已结题

项目摘要

Biologically-inspired collective motion control was investigated to enhance the availability of mini-size air vehicles or ground vehicles for information gathering. The control model consists of three components, i.e. attraction, repulsion, and parallel orientation, which are based on the motion of fish school or bird flock. The effectiveness of the model was tested on the various types of vehicles, e.g. ground vehicles, airship, fixed and rotary wing type airplanes. In consequence, all or a part of the three components of collective motion control were successfully functioned on these vehicles. Furthermore, the cooperation between heterogeneous vehicles, i.e. airship and ground vehicles, was succeeded. The characteristics of fish school were also investigated and the change of group formation parameters with the stage of growth and the optimal positioning of individuals in the school to reduce the energy consumption were clarified.

为了提高小型飞行器或地面飞行器的信息收集能力，研究了基于生物学的集体运动控制。控制模型由三个组成部分，即吸引，排斥和平行方向，这是基于鱼群或鸟群的运动。该模型的有效性进行了测试的各种类型的车辆，如地面车辆，飞艇，固定翼和旋翼型飞机。因此，集体运动控制的三个组成部分的全部或一部分在这些车辆上成功地发挥作用。此外，还成功地实现了飞艇与地面飞行器等异构飞行器之间的协同。研究了鱼群的特征，阐明了群体形成参数随生长阶段的变化规律，以及个体在鱼群中的最佳位置，以降低能量消耗。