集群无人机队形重构及虚拟仿真验证  

Formation reconstruction and virtual simulation verification of swarm UAVs

作　　者：卢燕梅 宗群 张秀云 鲁瀚辰 张睿隆 LU Yanmei;ZONG Qun;ZHANG Xiuyun;LU Hanchen;ZHANG Ruilong(School of Electrical Engineering and Automation,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学电气自动化与信息工程学院,天津300072

出　　处：《航空学报》2020年第4期243-254,共12页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(61873340,61773279,61673294)。

摘　　要：队形重构是集群无人机(UAV)控制的重要问题,指无人机按照要求安全、无碰撞地从一个队形变换到另一个队形,其难点在于快速规划最优安全轨迹并控制无人机进行轨迹姿态的高精度跟踪。针对集群无人机队形重构的上述问题,首先,基于CAPT(Concurrent Assignment and Planning of Trajectories)算法,解决了多无人机的目标分配和轨迹生成的实时性问题,实现了集群无人机的最优安全路径规划;其次,提出一种有限时间多变量积分滑模连续控制算法,解决了无人机轨迹姿态的高精度跟踪问题,并通过MATLAB仿真验证了该控制算法的有效性;最后,为了更加真实直观地演示无人机三维仿真效果,建立了基于Gazebo-ROS的无人机仿真平台,实现了12架四旋翼无人机队形重构"建模-仿真-可视化"的一体化仿真演示,验证了上述路径规划算法和轨迹姿态控制算法的有效性。Formation reconstruction is an important issue in the control of Unmanned Aerial Vehicles(UAVs).It refers to the transformation of UAVs from one formation to another in a safe and collisionfree manner following the requirements.The difficulty lies in rapidly planning the optimal safety trajectory and controlling UAVs for high-precision tracking of trajectory attitude.The above problems of formation reconstruction of UAVs are studied.Firstly,based on the algorithm of Concurrent Assignment and Planning of Trajectories(CAPT),the real-time problem of target allocation and trajectory generation of UAVs is solved,which realizes the optimal safe path planning.Secondly,a finite time multivariable integral sliding mode control algorithm is proposed to solve the high-precision trajectory and attitude tracking problem of UAVs.MATLAB simulation verifies the effectiveness of this control alqorithm.Finally,in order to simulate the UAV more directly and accurately,the UAV simulation platform based on the Gazebo-ROS structure is built,which realizes the whole"modeling,simulation and visualization"simulation process of formation reconstruction of 12 UAVs.The results verify the applicability of the above control strategy and path planning algorithm.

关 键 词：集群无人机 队形重构 姿态控制 轨迹跟踪 路径规划 虚拟仿真 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249