基于联盟的无人机集群避障方法  

Obstacle Avoidance Method for UAV Swarm based on Alliance

作　　者：符小卫[1] 张嘉平 魏可 FU Xiaowei;ZHANG Jiaping;WEI Ke(School of Electronics and Information,Northwestern Polytechnical University,Xi’an 710129,China)

机构地区：[1]西北工业大学电子信息学院,西安710129

出　　处：《无人系统技术》2021年第3期11-17,共7页Unmanned Systems Technology

基　　金：航空科学基金(202023053001)。

摘　　要：无人机集群的避障行为作为群体行为的一种,在国内外得到了广泛的研究和应用。针对切换拓扑结构下的集群避障控制问题,设计了仅需个别无人机获取虚拟长机信息的集群避障方法。通过对无人机集群划分联盟,选出集群子网中的导航信息无人机来获取虚拟长机的信息,在避障时可保证集群的连通性。在此基础上,通过对集群中各导航信息无人机施加一个垂直于虚拟长机运动轨迹的额外排斥力,并将虚拟长机对导航信息无人机的引导力权值因子进行设计,使其成为与虚拟长机和导航信息无人机距离相关的自适应因子。不但保证集群在面对较大障碍物时能有效地进行避障,而且解决了传统人工势场避障方法中存在的局部极小值问题。仿真结果表明了所建模型的合理性和求解方法的有效性。As a kind of swarm behavior,the obstacle avoidance behavior of UAV swarm has been widely studied and applied.Aiming at UAV swarm obstacle avoidance control problem under the switching topology,a swarm obstacle avoidance method when only individual UAVs are required to obtain virtual leader’s information is used.The Naviga-tion Information UAV(NIU)in the cluster subnet is selected by dividing the UAV cluster into alliances,and the NIU obtains the information of the virtual long-term aircraft,which can ensure the connectivity of the cluster when avoiding obstacles.On this basis,an additional repulsive force perpendicular to the motion trajectory of the virtual flight is ap-plied to each NIU in the cluster,and the guiding force weight factor of the virtual flight to the NIU as an adaptive factor related to the distance between the virtual flight and the NIU is designed.This method not only ensures that the cluster can effectively avoid obstacles when facing larger obstacles,but also solves the local minimum problem in the tradi-tional artificial potential field obstacle avoidance method.The simulation results show the rationality of model and the validity of the solution method.

关 键 词：无人机集群 拓扑切换 信息浓度 联盟 改进BFS 避障控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279