基于群智能的无人机集群侦测计算联合优化算法
Joint detection and computation optimization algorithm for UAV swarms based on swarm intelligence——1. School of Communication and Information Engineering, Nanjing University of Posts and
- 电信科学 2026年 页码：1-16
- 作者机构：
1.南京邮电大学通信与信息工程学院，江苏 南京 210003
2.西北工业大学电子信息学院，陕西 西安 710072
- 作者简介：
[ "洪晖杰（2000- ），男，南京邮电大学通信与信息工程学院硕士生，主要研究方向为无人机集群作战、协同计算、边缘计算等。" ]
[ "毛雅淇（2000- ），女，西北工业大学电子信息学院博士生，主要研究方向为无人机边缘计算等。" ]
[ "林晓勇（1974− ），男，博士，南京邮电大学通信与信息工程学院副教授，主要研究方向为空天地通信、人工智能等。" ]
[ "李大鹏（1982- ），男，博士，南京邮电大学通信与信息工程学院教授，主要研究方向为空天地通信、人工智能等。" ]
- 基金信息：国家重点研发计划(2021ZD0140405);江苏省自然科学基金(BK20241885);江苏省大学生科技创新训练计划项目(202410293098Y)
DOI：10.11959/j.issn.1000-0801.2025271
中图分类号： TN915.08-
修回：2025-10-13，
录用：2025-10-17，
网络首发：2026-01-05，
- 稿件说明：
移动端阅览
洪晖杰,毛雅淇,林晓勇等.基于群智能的无人机集群侦测计算联合优化算法[J].电信科学,
.Joint detection and computation optimization algorithm for UAV swarms based on swarm intelligence[J].Telecommunications Science,
洪晖杰,毛雅淇,林晓勇等.基于群智能的无人机集群侦测计算联合优化算法[J].电信科学, DOI：10.11959/j.issn.1000−0801.2025271.
.Joint detection and computation optimization algorithm for UAV swarms based on swarm intelligence[J].Telecommunications Science, DOI：10.11959/j.issn.1000−0801.2025271.
摘要
无人机（unmanned aerial vehicle，UAV）在灾害预警与战场侦察等任务中发挥着重要作用，但单机模式受限于侦测覆盖与计算能力，难以应对复杂环境。为此，提出一种基于群智能灰狼优化（grey wolf optimization，GWO）的侦测计算联合（joint detection and computation，JDC）优化算法，该算法通过多维度协同优化实现无人机集群侦测与计算能力的双重提升。构建了融合目标存在概率与环境不确定度的动态栅格化侦测模型，实现自适应侦测部署；设计了基于块坐标下降（block coordinate descent，BCD）算子的空基协同计算框架，以优化任务卸载与资源分配策略。仿真实验结果表明，JDC优化算法可使系统任务时延降低33.35%，收敛速度提升76.47%，在侦算力（effectiveness of detection and computation，EDC）指标上较基准算法提升10.01%～28.74%。实验结果验证了JDC优化算法在无地面基站支持场景下的优越性，为无人机集群自主协同侦察提供了理论支撑与工程指导。
Abstract
Unmanned aerial vehicle (UAV) plays a crucial role in disaster early warning and battlefield reconnaissance
yet single-UAV operation suffers from limited sensing coverage and computational capacity. To overcome these constraints
a joint detection and computation (JDC) optimization algorithm inspired by grey wolf optimization (GWO) within swarm intelligence was proposed. The JDC optimization algorithm integrated a dynamic grid-based detection model
which fused target existence probability and environmental uncertainty for adaptive deployment
with an airborne collaborative computing framework that leveraged distributed task offloading and a block coordinate descent (BCD) operator for efficient resource allocation. The simulation experiment results showed that JDC reduced overall latency by 33.35% and achieved 76.47% faster convergence than conventional swarm intelligence methods. The effectiveness of detection and computation (EDC) metric improved by 10.01%～28.74% compared with benchmark algorithms. These results demonstrated the superiority of the proposed JDC optimization algorithm in ground station–denied environments
providing theoretical support for autonomous collaborative surveillance and practical guidance for real-time
high-precision target detection in UAV swarm systems.
关键词
Keywords
references
黄成龙 , 柯宇曦 , 华向东 , 等 . 边缘计算在智慧农业中的应用现状与展望 [J ] . 农业工程学报 , 2022 , 38 ( 16 ): 224 - 234 .
HUANG C L , KE Y X , HUA X D , et al . Application status and prospect of edge computing in smart agriculture [J ] . Transactions of the Chinese Society of Agricultural Engineering , 2022 , 38 ( 16 ): 224 - 234 .
AMINZADEH A , KHOSHNOOD A M . Multi-UAV cooperative search and coverage control in post-disaster assessment: experimental implementation [J ] . Intelligent Service Robotics , 2023 , 16 ( 4 ): 415 - 430 .
刘箴 , 吴馨远 , 许洁心 . 无人机集群作战系统的新发展及趋势分析 [J ] . 弹箭与制导学报 , 2022 , 42 ( 6 ): 32 - 45 .
LIU Z , WU X Y , XU J X . New development and trend analysis of UAV swarming operation system [J ] . Journal of Projectiles, Rockets, Missiles and Guidance , 2022 , 42 ( 6 ): 32 - 45 .
於志文 , 孙卓 , 程岳 , 等 . 智能无人机集群协同感知计算研究综述 [J ] . 航空学报 , 2024 , 45 ( 20 ): 630912 .
YU Z W , SUN Z , CHENG Y , et al . A review of intelligent UAV swarm collaborative perception and computation [J ] . Acta Aeronautica et Astronautica Sinica , 2024 , 45 ( 20 ): 630912 .
ZHOU R T , WU X Y , TAN H S , et al . Two time-scale joint service caching and task offloading for UAV-assisted mobile edge computing [C ] // Proceedings of the IEEE INFOCOM 2022-IEEE Conference on Computer Communications . Piscataway : IEEE Press , 2022 : 1189 - 1198 .
ZHOU L Y , LENG S P , WANG Q , et al . Integrated sensing and communication in UAV swarms for cooperative multiple targets tracking [J ] . IEEE Transactions on Mobile Computing , 2023 , 22 ( 11 ): 6526 - 6542 .
JIA Z Y , YOU J H , DONG C , et al . Cooperative cognitive dynamic system in UAV swarms: reconfigurable mechanism and framework [J ] . IEEE Vehicular Technology Magazine , 2024 , 19 ( 3 ): 90 - 101 .
ERDELJ M , KRÓL M , NATALIZIO E . Wireless Sensor Networks and Multi-UAV systems for natural disaster management [J ] . Computer Networks , 2017 , 124 : 72 - 86 .
王宁 , 李哲 , 梁晓龙 , 等 . 通信距离受限条件下的无人机集群协同区域搜索 [J ] . 系统工程与电子技术 , 2022 , 44 ( 5 ): 1615 - 1625 .
WANG N , LI Z , LIANG X L , et al . Cooperative region search of UAV swarm with limited communication distance [J ] . Systems Engineering and Electronics , 2022 , 44 ( 5 ): 1615 - 1625 .
孙鉴 , 马宝全 , 吴隹伟 , 等 . 地震场景下无人机群路径规划与任务分配均衡联合优化 [J ] . 计算机应用 , 2024 , 44 ( 10 ): 3232 - 3239 .
SUN J , MA B Q , WU Z W , et al . Joint optimization of UAV swarm path planning and task allocation balance in earthquake scenarios [J ] . Journal of Computer Applications , 2024 , 44 ( 10 ): 3232 - 3239 .
YAO P , WEI X . Multi-UAV information fusion and cooperative trajectory optimization in target search [J ] . IEEE Systems Journal , 2022 , 16 ( 3 ): 4325 - 4333 .
王洪民 , 庄育锋 , 韦凌云 , 等 . 基于信息图的多无人机三维协同搜索动目标方法 [J ] . 控制与决策 , 2023 , 38 ( 12 ): 3534 - 3542 .
WANG H M , ZHUANG Y F , WEI L Y , et al . Multi-UAV 3D collaborative searching for moving targets based on information map [J ] . Control and Decision , 2023 , 38 ( 12 ): 3534 - 3542 .
何昕杰 , 周少武 , 张红强 , 等 . 一种三维群无人机并行式多目标搜索协调控制策略 [J ] . 信息与控制 , 2020 , 49 ( 5 ): 605 - 614 .
HE X J , ZHOU S W , ZHANG H Q , et al . A 3D parallel multi-target search coordination control strategy for swarm UAVS [J ] . Information and Control , 2020 , 49 ( 5 ): 605 - 614 .
HOU Y K , ZHAO J , ZHANG R Q , et al . UAV swarm cooperative target search: a multi-agent reinforcement learning approach [J ] . IEEE Transactions on Intelligent Vehicles , 2024 , 9 ( 1 ): 568 - 578 .
LUO Q Y , LUAN T H , SHI W S , et al . Deep reinforcement learning based computation offloading and trajectory planning for multi-UAV cooperative target search [J ] . IEEE Journal on Selected Areas in Communications , 2023 , 41 ( 2 ): 504 - 520 .
楼传炜 , 葛泉波 , 刘华平 , 等 . 无人机群目标搜索的主动感知方法 [J ] . 智能系统学报 , 2021 , 16 ( 3 ): 575 - 583 .
LOU C W , GE Q B , LIU H P , et al . Active perception method for UAV group target search [J ] . CAAI Transactions on Intelligent Systems , 2021 , 16 ( 3 ): 575 - 583 .
刘云昊 , 邓亦敏 , 段海滨 , 等 . 基于飞蛾信息素寻偶机制的无人机集群协同搜索 [J ] . 国防科技大学学报 , 2022 , 44 ( 4 ): 22 - 31 .
LIU Y H , DENG Y M , DUAN H B , et al . Unmanned aerial vehicle swarm cooperative search based on moth pheromone courtship mechanism [J ] . Journal of National University of Defense Technology , 2022 , 44 ( 4 ): 22 - 31 .
FEI B W , BAO W D , ZHU X M , et al . Autonomous cooperative search model for multi-UAV with limited communication network [J ] . IEEE Internet of Things Journal , 2022 , 9 ( 19 ): 19346 - 19361 .
SAVKIN A V , HUANG H L . Proactive deployment of aerial drones for coverage over very uneven terrains: a version of the 3D art gallery problem [J ] . Sensors , 2019 , 19 ( 6 ): 1438 .
CHEN J C , LING F Y , ZHANG Y , et al . Coverage path planning of heterogeneous unmanned aerial vehicles based on ant colony system [J ] . Swarm and Evolutionary Computation , 2022 , 69 : 101005 .
HU C Y , DING L M , LIU B H , et al . Multi unmanned aerial vehicle area coverage control based on enhanced alpha-guided grey wolf optimizer [C ] // Proceedings of the 2021 International Conference on Electronic Information Technology and Smart Agriculture (ICEITSA) . Piscataway : IEEE Press , 2022 : 410 - 415 .
QIN Z , DONG C , LI A J , et al . Trajectory planning for reconnaissance mission based on fair-energy UAVs cooperation [J ] . IEEE Access , 2019 , 7 : 91120 - 91133 .
LIU Z , ZHAN C , CUI Y , et al . Robust edge computing in UAV systems via scalable computing and cooperative computing [J ] . IEEE Wireless Communications , 2021 , 28 ( 5 ): 36 - 42 .
郭鸿志 , 王宇涛 , 王佳黛 , 等 . 面向复杂任务的多无人机协同计算资源分配与优化 [J ] . 无线电通信技术 , 2022 , 48 ( 6 ): 1012 - 1018 .
GUO H Z , WANG Y T , WANG J D , et al . Multi-UAV cooperative computing resource allocation and optimization for complex tasks [J ] . Radio Communications Technology , 2022 , 48 ( 6 ): 1012 - 1018 .
郭永安 , 王宇翱 , 周沂 , 等 . 边缘网络下多无人机协同计算和资源分配联合优化策略 [J ] . 南京航空航天大学学报 , 2023 , 55 ( 5 ): 757 - 767 .
GUO Y A , WANG Y A , ZHOU Y , et al . Multi⁃UAV collaborative computing and resource allocation joint optimization strategy in edge networks [J ] . Journal of Nanjing University of Aeronautics & Astronautics , 2023 , 55 ( 5 ): 757 - 767 .
SEID A M , BOATENG G O , ANOKYE S , et al . Collaborative computation offloading and resource allocation in multi-UAV-assisted IoT networks: a deep reinforcement learning approach [J ] . IEEE Internet of Things Journal , 2021 , 8 ( 15 ): 12203 - 12218 .
ALSAMHI S H , SHVETSOV A V , KUMAR S , et al . Computing in the sky: a survey on intelligent ubiquitous computing for UAV-assisted 6G networks and industry 4.0/5.0 [J ] . Drones , 2022 , 6 ( 7 ): 177 .
DENG H Q , HUANG J , LIU Q , et al . A distributed collaborative allocation method of reconnaissance and strike tasks for heterogeneous UAVs [J ] . Drones , 2023 , 7 ( 2 ): 138 .
YANG T T , JIANG Z , SUN R J , et al . Maritime search and rescue based on group mobile computing for unmanned aerial vehicles and unmanned surface vehicles [J ] . IEEE Transactions on Industrial Informatics , 2020 , 16 ( 12 ): 7700 - 7708 .
WANG Y T , CHEN W W , LUAN T H , et al . Task offloading for post-disaster rescue in unmanned aerial vehicles networks [J ] . IEEE/ACM Transactions on Networking , 2022 , 30 ( 4 ): 1525 - 1539 .
XU F , ZI S , WANG J G , et al . A computing offloading strategy for UAV based on improved bat algorithm [J ] . Cognitive Robotics , 2023 , 3 : 265 - 283 .
李立 , 王司令 , 周洋 , 等 . 基于边缘计算的无人机协同任务卸载策略研究 [J ] . 计算机与数字工程 , 2023 , 51 ( 6 ): 1270 - 1275 .
LI L , WANG S L , ZHOU Y , et al . Research on cooperative mission offloading strategy for drones based on edge computing [J ] . Computer & Digital Engineering , 2023 , 51 ( 6 ): 1270 - 1275 .
华罗庚 , 王元 . 数论在近似分析中的应用 [M ] . 北京 : 科学出版社 , 1978 : 1 - 99 .
HUA L G , WANG Y . Applications of number theory in approximate analysis [M ] . Beijing : Science Press , 1978 : 1 - 99 .
0
浏览量
22
下载量
0
CSCD
- 网络PDF下载
- WORD下载
- XML下载
- Meta-XML下载
- BibTeX下载
- Endnote下载
- RefMan 下载
- NoteExpress下载
- NoteFirst下载
关联资源
相关文章
相关作者
相关机构
- 技术支持由北京北大方正电子有限公司提供 京ICP备09064830号-19
京公网安备11010802024621 - 本系统建议在Chrome、 IE9+ 以上版本浏览器阅读本站内容，360浏览器请切换至极速模式
- Cookies帮助我们提供服务并提供个性化体验。使用本网站，即表示您同意我们使用Cookies
- 总访问量：833422 今日访问量：630