基于分散优化防碰撞无人机编队的控制技术研究  

Study on control technology based on decentralized optimization anti-collision UAV formation

作　　者：柏天明 张纯良 任涵 唐茵娜 

机构地区：[1]北京理工大学珠海学院航空学院,广东珠海519088

出　　处：《无线互联科技》2018年第2期25-28,共4页Wireless Internet Technology

摘　　要：文章提出了一种分散优化控制的设计过程,保证了无人机防碰撞的实现。该控制设计基于滚动时域控制方案。当此方案失能时,系统执行一种防碰撞的紧急机动,确保飞行器避免碰撞。在速度和加速度上的边界使用简单的多面体不变集计算,这样的边界确保了紧急机动的运动轨迹是避免碰撞的。由此提出了一种分散控制方案,一旦相应的算法被上传到无人机的飞控上,这样的紧急机动就可以立刻实现。This paper presents a decentralized optimal control design process based on the receding horizon control scheme, which guarantees the realization of UAV collision avoidance when the receding horizon control scheme fails, a collision avoidance emergency maneuver will be performed to ensure the avoidance of vehicles collision. Besides, a simple calculation of polyhedron invariant set is used on the boundary between velocity and acceleration, which further ensures the avoidance of trajectory collision on emergency maneuver. Therefore, a decentralized control scheme is proposed so that such an emergency maneuver can be realized immediately once the corresponding calculation is uploaded to the UAV＇s flight control.

关 键 词：无人机 防碰撞 分散 控制系统 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V279