基于tau矢量场制导的多无人机协同standoff跟踪方法  

Cooperative standoff tracking for multi-UAVs based on tau vector field guidance

作　　者：杨祖强[1] 方舟[1] 李平[1,2] 

机构地区：[1]浙江大学航空航天学院,浙江杭州310027 [2]浙江大学控制科学与工程学院,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2016年第5期984-992,共9页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(61004066);浙江省自然科学基金资助项目(LY15F030005);浙江省公益性技术研究计划资助项目(2016C33246)

摘　　要：针对有时间约束的多无人机(UAV)协同standoff跟踪需求,研究基于四维矢量场的多UAV协同制导方法.利用本征tau-G制导策略能够依照期望时间对各运动状态进行同步规划的特性,构建tau制导矢量场,并在此基础上提出综合性多UAV协同standoff跟踪方法.该方法用tau矢量场导引各UAV的位置在期望时间准确收敛于目标圆,利用tau-G策略调整UAV之间的相位间隔,应用序列二次规划对跟踪参数进行优化,并采用人工势场法进行协同避碰避障.仿真结果表明,基于tau矢量场制导的协同standoff跟踪方法计算负荷低,跟踪偏差小、制导策略可飞性好,飞行安全性高,能够更好地满足多UAV协同standoff跟踪的应用需求.A four dimensional（4D）vector field guidance（VFG）method was presented for time-constrained cooperative standoff tracking of multiple unmanned aerial vehicles（UAVs）.The tau VFG（τVFG）was proposed utilizing the 4Dsynchronous guidance capability of the intrinsic tau gravity（tau-G）guidance strategy.A comprehensive standoff tracking method was designed for multiple UAVs with the help ofτVFG.TheτVFG was applied to guide UAVs to approach the standoff circle exactly at the desired time,and tau-G guidance was also adopted for phase intervals adjustment.Tracking parameters were optimized by sequential quadratic programming,and conflicts were resolved by artificial potential fields.Simulation results show that theτVFG-based method performs better in cooperative standoff tracking tasks with a lower computation load,smaller tracking errors,better flyability and higher flight safety.

关 键 词：广义tau理论 tau矢量场制导 standoff跟踪 多机协同 

分 类 号：V249[航空宇航科学与技术—飞行器设计]