基于Lyapunov导航向量场的无人机协同跟踪地面目标  

Cooperative Tracking of a Ground Target with UAVs Using Lyapunov Guidance Vector Field

作　　者：罗健[1] 

机构地区：[1]复旦大学力学与工程科学系,上海200433

出　　处：《复旦学报（自然科学版）》2012年第4期406-414,共9页Journal of Fudan University：Natural Science

摘　　要：针对多架无人机协同跟踪一个地面移动目标进行研究.通过基于Lyapunov导航向量场的航向控制使各架无人机收敛到位于目标上空的极限环,绕目标展开跟踪.进一步通过相位控制,使各架无人机均匀分布在极限环上,对目标进行协同跟踪.以3架无人机协同跟踪沿S型公路匀速前行的地面目标进行仿真.结果表明该方法能使无人机成功地完成协同跟踪任务.Control laws are developed for cooperative tracking a moving ground target by a team of UAVs.Tracking is accomplished by heading control using Lyapunov guidance vector field,which provides a limit circle over the ground target.Then cooperative tracking is achieved by phase control,which separates the UAVs evenly about the limit circle.Simulation of three UAVs cooperative tracking a ground target moving along a curved road is presented,which shows the control laws can work effectively.

关 键 词：无人机 协同跟踪 Lyapunov导航向量场 航向控制 相位控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]