应对快速移动障碍物的多无人机编队避障控制  

Formation and Collision Avoidance Control for Multi-UAVs in Response to Fast Moving Obstacles

作　　者：刘云平[1] 徐泽[1] 赵中原 苗国英[1] 邓志良 李炳志 LIU Yunping;XU Ze;ZHAO Zhongyuan;MIAO Guoying;DENG Zhiliang;LI Bingzhi(School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China;Sinotruk Jinan Truck Co. , Ltd. , Jinan 250000, China)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]中国重汽集团济南卡车股份有限公司,济南250000

出　　处：《兵器装备工程学报》2021年第3期142-148,156,共8页Journal of Ordnance Equipment Engineering

基　　金：国家重点研发计划(2018YFC1405703);国家自然科学基金项目(51875293);电子信息控制重点实验室开放基金项目(6142105190308)。

摘　　要：通过引入与障碍物移动方向垂直的辅助牵引加速度信息,消除陷入局部最优化解,提高了对移动障碍物的规避能力。将有限时间一致性算法与改进的人工势场方法相结合,提出一种多无人机有限时间编队和避障控制策略,可实现多无人机快速编队和避障,提高战场环境下机群的生存能力。利用MATLAB进行仿真实验证实算法的有效性。By introducing the auxiliary traction acceleration information perpendicular to the moving direction of the obstacle,the defect of falling into the local optimal solution is eliminated,and the evading ability of the moving obstacle was improved.At the same time,by combining the finite time consistency algorithm with the improved artificial potential field method,a multi-UAV finite time formation and obstacle avoidance control strategy was proposed.Such strategy realizes the multi-UAV fast formation and obstacle avoidance,and improves the survival ability of the aircraft group in battlefield environment.Finally,MATLAB was applied to simulation,and the effectiveness of the algorithm is proved.

关 键 词：一致性算法 人工势场方法 多无人机 编队控制 避障控制 

分 类 号：TJ85[兵器科学与技术—武器系统与运用工程] TP242.6[自动化与计算机技术—检测技术与自动化装置]