无人机集群规避动态障碍物的分布式队形控制  

Distributed formation control of UAV swarm with dynamic obstacle avoidance

作　　者：符小卫[1] 潘静 FU Xiaowei;PAN Jing(School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710129, China;Xi’an Modern Control Technology Research Institute, Xi’an 710065, China)

机构地区：[1]西北工业大学电子信息学院,陕西西安710129 [2]西安现代控制技术研究所,陕西西安710065

出　　处：《系统工程与电子技术》2022年第2期529-537,共9页Systems Engineering and Electronics

基　　金：航空科学基金(2020Z023053001)资助课题。

摘　　要：本文研究了无人机集群躲避动态障碍物下的队形控制问题。首先,引入针对动态障碍物的碰撞预判机制判断集群是否需要对障碍物进行规避。其次,在动态障碍物与无人机间构造斥力场实现避障。最后,根据一致性理论设计基于集群各无人机之间、无人机与虚拟领导者之间的位置、速度一致性控制律,结合人工势场法实现躲避动态障碍物下集群队形的形成与保持。仿真结果表明,集群无人机能够在以分布式方式躲避动态障碍物的同时实现队形的形成、保持与重构。This paper studies the formation control of unmanned aerial vehicle(UAV)swarm with dynamic obstacle avoidance.Firstly,a collision prediction mechanism for dynamic obstacles is introduced to determine whether the swarm needs to avoid obstacles.Secondly,a repulsive force field is constructed between the dynamic obstacle and the UAV to avoid collision.Finally,according to the consensus theory,the cooperative control law is designed based on the position and speed consistency among UAV swarm and between each UAV and the virtual leader.Combining with the artificial potential field method,the formation generation and maintenance of UAV swarm with dynamic obstacle avoidance is achieved.The simulation results show that the UAV swarm can realize the generation,maintenance and reconstruction of the desired formation based on distributed control while avoiding dynamic obstacles.

关 键 词：无人机集群 队形控制 动态障碍物 一致性理论 人工势场法 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279