障碍空间中的飞行器编队与集群控制研究  

Decentralized UAV Formation Tracking Flight Control in Obstacle Laden Environment

作　　者：赵刚[1,2] 黄席樾[1] 

机构地区：[1]重庆大学自动化学院,重庆400044 [2]第二炮兵驻重庆地区军事代表局,重庆400039

出　　处：《系统仿真学报》2009年第S2期92-96,共5页Journal of System Simulation

基　　金：国家自然科学基金主任基金(60443006)

摘　　要：研究障碍空间中的无人机编队与集群控制问题。为防止碰撞和避免障碍,进行了一个新的分布式控制算法设计。该设计基于修正的虚拟"长机——僚机"结构与简单的一致同意约定。通过全面运用人工势场法和回转力方法,避免无人机之间产生碰撞,保证无人机编队在障碍空间中的避障飞行。通过引入回转力方法,获得一个光滑的集群轨迹,使得无人机避障机动行为更加合理,也解决了纯人工势场法中固有的局部极小点问题。仿真结果表明,该运算法则在二维平面上的典型编队场景中可以保证无人机集群避障飞行。The problem of formation flight for a set of Unmanned Air Vehicles(UAV) in a possible obstacle laden environment was solved.A novel decentralized control design was developed which guaranteed collision and obstacle avoidance.The control design is based on a modified virtual leader-follower structure and a simple consensus protocol.Vehicle collision and obstacle avoidance was ensured by comprehensively utilizing artificial potential function and the gyroscopic force approach.By introducing gyroscopic force,a smoother formation trajectory was obtained which made the UAV maneuver behavior more reasonable and it also tackled the local minimal problem caused by artificial potential function method.Numerical simulations demonstrate the correctness of the algorithm in typical planar formation flight.

关 键 词：无人机编队 避障 回转力 机动行为 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]