基于多任务执行的无人机编队路径重构仿真  

Simulation of UAV Formation Path Reconstruction Based on Multi Task Execution

作　　者：关启学[1] 姜月秋[1] GUAN Qi-xue;JIANG Yue-qiu(College of Information Science and Engineering Shenyang Ligong University,Shenyang Liaoning 110159,China)

机构地区：[1]沈阳理工大学信息科学与工程学院,辽宁沈阳110159

出　　处：《计算机仿真》2020年第7期368-372,共5页Computer Simulation

摘　　要：针对目前无人机编队路径规划方法存在飞行路径远、范围不合理等问题,提出基于多任务执行的无人机编队路径重构方法。规划多任务无人机,通过最小指标衡量分配方案的优劣,根据滚动优化思想获取最优决策方案。利用向量场方法调整行驶路径,通过时变向量场实时调整路径长度和自身速度,实现编队路径重构。为验证研究方法的有效性,设计一次仿真。仿真结果表明:所提规划路径方法能够在规划范围内实现合理路径规划,从而实现无人机编队的快速集结,节省大量飞行时损耗的燃油量。Due to long flight path and unreasonable range in current method,a method of UAV formation path reconstruction based on multi-task execution was proposed.Firstly,the multi-task UAV was planned,and the allocation scheme was judged by the minimum index.According to the rolling optimization idea,the optimal decision scheme was established.Secondly,the vector field method was used to adjust the driving path.Moreover,the path length and its own velocity were adjusted in real time through time-varying vector field.Finally,the reconstruction for formation path was achieved.In order to verify the effectiveness of the proposed method,a simulation was designed.Simulation results show that the proposed method can achieve reasonable path planning within the planning scope,so that UAV formation can be massed rapidly.Thus,a lot of fuel consumed during flight can be saved.

关 键 词：多任务执行 无人机编队 时变向量场 路径重构 安全控制 

分 类 号：TP392[自动化与计算机技术—计算机应用技术]