【无人机控制】基于PRISM模型实现无人机目标搜索及避碰附matlab代码

本文链接：https://blog.csdn.net/m0_57702748/article/details/131406497

文章介绍了PRISM模型在无人机控制中的应用，用于建立无人机行为、环境和交互模型，验证控制策略的正确性和性能。通过配置无人机系统、设计搜索策略、利用传感器感知环境、路径规划和避碰策略，实现目标搜索和避碰。代码示例展示了如何从收集的数据中获取连续时间模型的平均属性。

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⛄ 内容介绍

PRISM是一种概率模型检测器，用于对概率系统进行建模、验证和分析。它可用于建立和验证各种系统，包括通信协议、嵌入式系统、生物学系统等。

PRISM模型使用概率性质和状态转移系统建模语言，可以处理具有不确定性和随机性的系统。通过指定系统的状态和可能的转移，以及状态上的概率性质，可以进行属性验证、性能分析和参数合成等任务。

在无人机控制领域，PRISM模型可以用于建立无人机行为模型、环境模型和人-机交互模型，以验证无人机控制策略的正确性和性能保证。它可以用来分析无人机的行为、路径规划、航迹跟随、碰撞避免和决策制定等问题。

基于PRISM（Probabilistic Reactive InSiMulation）模型实现无人机的目标搜索和避碰可以通过以下步骤实现：

配置无人机系统：确定无人机系统的硬件配置和传感器设置。这包括选择适当的无人机平台、安装相关传感器（如雷达、摄像头、激光测距仪等）以配置通信模块。
目标搜索策略设计：根据任务需求和搜索目标，设计无人机的目标搜索策略。这可以基于遗传算法、贪心算法或其他优化方法来确定无人机的搜索路径和行为。
传感和感知：利用传感器获取环境信息，如目标位置、障碍物位置、地形信息等。使用感知算法进行目标检测、跟踪和障碍物识别。
定位与航迹规划：基于感知结果和目标搜索策略，进行无人机的定位和航迹规划。确定无人机的当前位置，并计算移动到目标位置或规避障碍物的最佳路径。
PRISM模型应用：根据PRISM模型，计算不同路径的危险性概率。对于搜索过程中的潜在危险路径，根据风险评估调整无人机的航迹。
避碰与规避策略：程中，根据PRISM模型的风险评估和预测，实施避碰与规避策略。可以使用动态路径规划、速度调整、姿态控制等方法，确保无人机与障碍物或其他无人机的安全距离。
实时控制与监控：基于控制算法和无人机系统，实施实时控制方式以执行目标搜索和避碰策略。同时，监控无人机状态、环境变化和传感器数据，及时更新决策。
仿真与优化：进行仿真实验，评估基于PRISM的无人机目标搜索和避碰策略的性能和鲁棒性。根据仿真结果进行调优和优化。

需要注意的是，基于PRISM模型的无人机目标搜索和避碍缀技术涉及传感器融合、控制器设计和决策算法等多个方面。具体的实现方法和步骤可能会因实际需求、环境条件和任务要求而有差异，并需要综合考量飞行安全、可靠性和实性等因素。

⛄ 部分代码

% Get probabilities and averages of continuous-time model from collected% datafunction AverageProperties(SaveFile)% close all% clearvars -except h GlobalTime Count Run Runs SaveFile Data Agents Environment Sim% clcfprintf('Averaging properties for all runs...\n\n')% Load datasetload(SaveFile)%% BASIC PROPERTIES% Numbers of runs averagedProps.NumRuns = length(AllProps);% Average mission timeProps.AvgMissionTime = sum(cat(1,AllProps.MissionTime))/length(AllProps);% Mission success probabilityProps.MissionSuccess = sum(cat(1,AllProps.MissionOutcome))/length(AllProps);%% RUN LOOP% Initialise arraysTotalStateTimes = {};TotalStateDistances = {};TotalStateTransitions = {};TotalSystemsFault = [0 0];TotalActuatorFault = [0 0];TotalGrabberFault = [0 0];% Loop runsfor i = 1:length(AllProps)        % STATE-SPECIFIC PROPERTIES -------------------------------------------        % Loop states    for j = 1:size(AllProps(i).AvgStateTimes,1)                % Current state%         CurrentState = AllProps(i).AvgStateTimes{j,1};        CurrentState = AllProps(i).TotalStateTimes{j,1};                % Current time%         CurrentTime = AllProps(i).AvgStateTimes{j,2};        CurrentTime = AllProps(i).TotalStateTimes{j,2};                % Current total        CurrentTotal = AllProps(i).TotalStateTimes{j,3};                % Current distance%         CurrentDistance = AllProps(i).AvgStateDistance{j,2};        CurrentDistance = AllProps(i).TotalStateDistance{j,2};                % Check if current state already exists in total matrix        if isempty(TotalStateTimes) || ~ismember(CurrentState,TotalStateTimes(:,1))                        % If state doesn't exist, add it and initialise with first            % total                        TotalStateTimes{end+1,1} = CurrentState;            TotalStateTimes{end,2} = CurrentTime;%             TotalStateTimes{end,3} = 1;            TotalStateTimes{end,3} = CurrentTotal;                        TotalStateDistances{end+1,1} = CurrentState;            TotalStateDistances{end,2} = CurrentDistance;%             TotalStateDistances{end,3} = 1;            TotalStateDistances{end,3} = CurrentTotal;                    else                        % If state exists, add current value to total                        % Get index of current state in array            k = find(ismember(TotalStateTimes(:,1),CurrentState));                        % Add to counter            TotalStateTimes{k,2} = TotalStateTimes{k,2} + CurrentTime;%             TotalStateTimes{k,3} = TotalStateTimes{k,3} + 1;            TotalStateTimes{k,3} = TotalStateTimes{k,3} + CurrentTotal;                        TotalStateDistances{k,2} = TotalStateDistances{k,2} + CurrentDistance;%             TotalStateDistances{k,3} = TotalStateDistances{k,3} + 1;            TotalStateDistances{k,3} = TotalStateDistances{k,3} + CurrentTotal;                    end            end        % STATE TRANSITIONS ---------------------------------------------------        for j = 1:size(AllProps(i).StateTransitions,1)                % Current pair        CurrentPair = AllProps(i).StateTransitions(j,:);                % Check if current pair already exists in total matrix        if isempty(TotalStateTransitions) || ~any(all(ismember(TotalStateTransitions(:,1:2),CurrentPair(1:2)),2))                        % If state pair doesn't exist, add it and initialise it with            % first total                        TotalStateTransitions(end+1,:) = CurrentPair;                    else                        % If state pair exists, add current value to total            k = find(all(ismember(TotalStateTransitions(:,1:2),CurrentPair(1:2)),2));                        % Add to counter            TotalStateTransitions{k,3} = TotalStateTransitions{k,3} + CurrentPair{3};                    end            end        % AVERAGE OCCURRENCE OF FAULTS ----------------------------------------        % Systems fault    TotalSystemsFault = TotalSystemsFault...        + [sum(AllProps(i).SystemsFault) length(AllProps(i).SystemsFault)];        % Actuator fault    TotalActuatorFault = TotalActuatorFault + [AllProps(i).ActuatorFault 1];        % Grabber fault    TotalGrabberFault = TotalGrabberFault + [AllProps(i).GrabberFault 1];    end%% AVERAGE TOTALLED DATA% Get average of each state, ignoring cases where the state did not occurfor j = 1:size(TotalStateTimes,1)        Props.AvgStateTimes{j,1} = TotalStateTimes{j,1};    Props.AvgStateTimes{j,2} = TotalStateTimes{j,2}/TotalStateTimes{j,3};        Props.AvgStateDistances{j,1} = TotalStateDistances{j,1};    Props.AvgStateDistances{j,2} = TotalStateDistances{j,2}/TotalStateDistances{j,3};    end% Get average occurrences of state transitionsProbStateTransitions = TotalStateTransitions;for j = 1:size(TotalStateTransitions,1)        NextStates = TotalStateTransitions(ismember(TotalStateTransitions(:,1),TotalStateTransitions(j,1)),2);    TransOcc = TotalStateTransitions(ismember(TotalStateTransitions(:,1),TotalStateTransitions(j,1)),3);    TransOcc = sum(cat(1,TransOcc{:}));    ProbStateTransitions{j,3} = TotalStateTransitions{j,3}/sum(TransOcc);    end% Sort state transitionsProps.ProbStateTransitions = sortrows(ProbStateTransitions,1);% Average occurrence of systems faultProps.ProbSystemsFault = TotalSystemsFault(1)/TotalSystemsFault(2);% Average occurence of actuator faultProps.ProbActuatorFault = TotalActuatorFault(1)/TotalActuatorFault(2);% Average occurence of actuator faultProps.ProbGrabberFault = TotalGrabberFault(1)/TotalGrabberFault(2);%% SAVE AVERAGED DATA TO SAVE STRUCTUREsave(SaveFile,'Props','AllProps')