考虑内部避碰的多无人机有限时间环形编队控制  

Multi-UAV Finite-time Ring Formation Control Considering Internal Collision Avoidance

作　　者：刘云平[1] 蒋长胜 张婷婷 赵中原 邓志良 LIU Yunping;JIANG Changsheng;ZHANG Tingting;ZHAO Zhongyuan;DENG Zhiliang(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044;School of Command and Control Engineering,Army Engineering University,Nanjing 210017)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]陆军工程大学指挥控制工程学院,南京210017

出　　处：《机械工程学报》2022年第1期61-68,共8页Journal of Mechanical Engineering

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

摘　　要：针对多无人机系统利用有限时间环形编队算法执行环形编队任务时易发生碰撞这一问题,提出一种基于改进人工势场法的多无人机有限时间环形编队控制算法,引入一组与障碍物移动方向垂直的辅助势场,避免了多无人机在快速编队过程中发生内部碰撞,并解决了传统人工势场法易陷入局部最优解的问题。为验证本文算法的有效性,在无人机初始位置、势场影响范围、包围半径等参数相同的情况下进行计算机仿真实验,结果表明算法可有效地避免多无人机在环形编队过程中发生碰撞的问题。为进一步验证算法的实用性,采用三架轴距450 mm的“X型”旋翼无人机进行物理实验,实验结果表明本文算法在有限时间内完成多无人机环形编队时具有较好的避碰效果。Aiming at the problem that multi-UAV system is prone to collision when using finite-time ring formation algorithm to perform ring formation tasks, this paper proposes a multi-UAV finite-time ring formation control algorithm based on improved artificial potential field method. A set of auxiliary potential fields perpendicular to the direction of obstacle movement are introduced,which avoids the internal collision of multi-UAV in the process of rapid formation, and solves the problem that traditional artificial potential field method is easy to fall into local optimal solution. In order to verify the effectiveness of the proposed algorithm,computer simulation experiments are carried out under the same parameters such as the initial position of the UAV, the influence range of the potential field and the surrounding radius. The results show that the proposed algorithm can effectively avoid the collision of multiple UAVs in the ring formation process. In order to further verify the practicability of the algorithm, this paper uses three“X”rotor UAVs with axial distance of 450 mm to carry out physical experiments. The experimental results show that the proposed algorithm has good collision avoidance effect when completing the ring formation of multiple UAVs in limited time.

关 键 词：多无人机 有限时间环形编队算法 改进人工势场法 环形编队控制 避碰控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]