基于空间映射的异构无人机在线冲突消解算法  

A Heterogeneous Unmanned Aerial Vehicles Online Conflict Resolution Algorithm Based on Space Mapping

作　　者：杨健 钟紫凡 杨少博 YANG Jian;ZHONG Zi-Fan;YANG Shao-Bo(Unit 66133 of PLA,Beijing 100144,China)

机构地区：[1]解放军66133部队

出　　处：《指挥与控制学报》2018年第3期226-233,共8页Journal of Command and Control

基　　金：国家自然科学基金(61603406)资助~~

摘　　要：基于几何导航方法分析了无人机安全间隔约束条件,然后应用空间映射方法由非线性的安全间隔约束条件归纳出线性约束条件,针对异构无人机集中式冲突消解问题构建混合整数线性规划模型,目标是最小化无人机由期望飞行方向的偏移量以减少无人机多余的机动消耗;仿真实验结果证明了提出的算法能够高效地消解复杂的冲突.This paper analyzes the safe separation constraint of unmanned aerial vehicles （UAVs） by using the geometric guidance method. The linear constraints are established from the nonlinear safe separation constraint by applying the space mapping method. The conflict resolution problem of heterogeneous UAVs is reduced to a mixed integer linear programming （MILP） model, with the objective of reducing the additional cost by minimizing the summation of deviations from the preferred heading directions. Simulation experiments are presented to demonstrate the proposed algorithm. The results show that the proposed algorithm is efficient to find out conflict free solutions for complicated airspace conflict.

关 键 词：冲突消解 空中交通管理 空间映射 混合整数线性规划 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V355.1