基于模型预测控制的无人机时空协同航迹规划  

Space-Time Cooperative Path Planning for Multi-UAV Using Model Predictive Control

作　　者：顾海艳[1] 陈亮 王多点 GU Haiyan;CHEN Liang;WANG Duodian(Department of Computer Information and Cyber Security,Jiangsu Police Institute,Nanjing 210031,China;Field Engineering College,Army Engineering University of PLA,Nanjing 210007,China;Automobile NCO Academy,Army Military Transportation University of PLA,Bengbu,Anhui 233011,China;Army Research Institute of PLA,Beijing 100089,China)

机构地区：[1]江苏警官学院计算机信息与网络安全系,南京210031 [2]陆军工程大学野战工程学院,南京210007 [3]军事交通学院汽车士官学校,安徽蚌埠233011 [4]陆军研究院,北京100089

出　　处：《计算机工程与应用》2021年第23期270-279,共10页Computer Engineering and Applications

摘　　要：为了求解同时实现空间协同和时间协同的多无人机时空协同问题,提出了基于分布式模型预测控制的多无人机在线协同航迹规划的方法。建立了由MPC(Model Predictive Control,)控制器、空间协同模块和时间协同模块组成的多无人机分布式时空协同航迹规划框架结构。MPC将时空协同问题转化为滚动优化问题,优先级的方法实现了空间协同和时间协同的解耦,同时改进了碰撞冲突消解规则,并设计了时间冲突消解规则,解决了分布式时空协同问题的动作一致性问题。仿真实验表明,该方法可以有效地实现多无人时空协同航迹规划。To solve the problem of simultaneous space and time coordination of multiple UAVs,an online cooperative path planning method based on distributed model predictive control for multi-UAV is proposed.A distributed space-time cooperative path planning framework composed of MPC controller,space cooperation module and time cooperation module is established.MPC transforms the space-time coordination problem into a rolling optimization problem.Priority-based decoupling strategy is used to decouple the space cooperation and time cooperation.The collision conflict resolution rules are improved and time conflict resolution rules are designed.The consistency of decentralized time-space coordination problem is solved.Simulation results show the proposed algorithm can effectively realize space coordination and time coordinationfor multi-UAV.

关 键 词：模型预测控制 多无人机 协同航迹规划 冲突消解 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]