基于VL-APF方法的多无人机编队形成与保持  

Multi-UAVs formation forming and keeping based on VL-APF

作　　者：张友安[1] 康宇航 刘京茂 孙玉梅[1] 张雷雷[4] ZHANG You-an;KANG Yu-hang;LIU Jing-mao;SUN Yu-mei;ZHANG Lei-lei(Department of Electrical and Electronic Engineering,Yantai Nanshan University, Yantai 265713,China;91899 Troops of the PLA,Huludao 125000,China;Shandong Nanshan International Flight Company Ltd.,Yantai 265713,China;92941 Troops of the PLA,Huludao 125000,China)

机构地区：[1]烟台南山学院电气与电子工程系,山东烟台265713 [2]中国人民解放军91899部队,辽宁葫芦岛125000 [3]山东南山国际飞行有限公司,山东烟台265713 [4]中国人民解放军92941部队,辽宁葫芦岛125000

出　　处：《飞行力学》2018年第6期40-44,共5页Flight Dynamics

摘　　要：针对虚拟-领航编队控制结构的多无人机编队保持问题,给出了一种基于人工势场算法,分别就虚拟-领航编队中虚拟的吸引势场、编队队形的吸引势场、编队内无人机避碰的排斥势场以及编队内通信约束的吸引势场对编队内无人机给出了相应的人工势场函数,利用各架无人机的所有势场函数构造性能指标,用模型预测控制方法进行优化得到控制输入,并进行了仿真。仿真结果表明,该算法能够有效控制多无人机编队快速形成与保持。In order to solve the problem that multi-UAVs formation keeping whose formation control structure is virtual-leader(VR),this paper provides a algorithm based on artificial potential field(APF),and designs the correspondent artificial potential field function with virtual UAV's attractive potential field in the virtual-leader formation,the attractive potential field among the formation configuration,repulsive potential field of avoiding collision among the formation configuration and attractive potential field under the communication constraint respectively,uses every UAV's all the potential field functions to construct the performance index,uses the model predictive control to optimize it and obtain the control input,then simulates it.The simulation results show that the proposed algorithm can effectively control the multi -UAVs formation and realize formation formatting and keeping quickly.

关 键 词：无人机 人工势场 虚拟-领航 编队保持 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1