无人机自动防撞冲突检测与优化控制方法  

Conflict Detection and Optimal Control for UAVs in Automatic Avoiding of Dynamic Obstacles

作　　者：许云红[1] 周锐[1] 夏洁[1] 陈哨东[2] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]光电控制技术重点实验室,河南洛阳471009

出　　处：《电光与控制》2014年第1期1-6,共6页Electronics Optics & Control

基　　金：国家自然科学基金(60975073;61175109);航空科学基金(20 11ZC13001)

摘　　要：研究了无人机防撞冲突检测与威胁级别评估方法,建立了航向角控制、速度控制、高度控制以及航向角与速度组合控制等多种不同的防撞控制策略;建立了自动防撞多目标代价函数模型以及多目标最优决策方法。仿真结果证明了该方法的有效性和较好的实用性。A method for conflict detection of collision avoidance and assessment of collision threat levels are presented in this paper. The principle of collision avoidance was introduced firstly. In order to obtain an effective result, different strategies for collision avoidance were established, based respectively on heading control, velocity control, height control and the combination of heading and velocity. The models of muhi- objective cost function and the methods of optimal decision-making for automatic collision avoidance were also established. The simtdation results demonstrated the effectiveness and practicability of the proposed methods.

关 键 词：无人机 自动防撞 威胁评估 最优决策 

分 类 号：V324[航空宇航科学与技术—人机与环境工程]