基于预测控制的无人机编队内部避碰  

UAV Team's Collision Avoidance Using Predictive Control

作　　者：魏健[1] 李相民[2] 代进进[2] 

机构地区：[1]海军航空工程学院研究生管理大队,山东烟台264001 [2]海军航空工程学院兵器科学与技术系,山东烟台264001

出　　处：《海军航空工程学院学报》2015年第4期387-391,共5页Journal of Naval Aeronautical and Astronautical University

基　　金：航空科学基金资助项目(20135184008)

摘　　要：针对无人机编队内部避碰问题,首先采用基于预测控制的方法,解决了在即将发生碰撞情况下无人机的航向调整问题;然后,建立了航路回归模型,解决了无人机避碰后,迅速回归预定航路的问题。仿真结果表明,文章给出的避碰方法能够有效解决无人机编队内部碰撞问题。In order to solve the collision avoidance problem between multi-UAV, the paper studied the UAV head adjusting problem before the collision based on predictive control. And then we presented the air route regression model. It solved the problem that UAV returned scheduled air route after avoiding collision. Finally, the simulation result showed that the collision avoidance method can solve the multi-UAV collision problem effectively.

关 键 词：无人机编队 避碰 预测控制 航向控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计]