面向无人机编队队形保持的航路规划技术研究  

Study of path planning method for UAV formation keeping

作　　者：卢洋 贾立新 陈征[1] LU Yang;JIA Lixin;CHEN Zheng(School of Aeronautics and Astronautics,Zhejiang University,Hangzhou 310027,China;Beijing Electro-Mechanical Engineering Institute,Beijing 100074,China)

机构地区：[1]浙江大学航空航天学院,浙江杭州310027 [2]北京机电工程研究所,北京100074

出　　处：《飞行力学》2022年第4期63-69,75,共8页Flight Dynamics

摘　　要：针对无人机编队快速转弯时队形难以保持的问题,提出一种基于编队方向角变换的编队航路规划方法,使编队飞行过程中各无人机满足队形保持要求以及自身运动学约束。首先围绕编队保持问题构建编队数学模型,并结合无人机运动学约束构建编队飞行过程中的最优控制问题。然后,利用伪谱法对最优控制问题进行求解,从而获得编队协同飞行航路。仿真结果表明,规划出的编队航路在满足编队队形保持要求的同时,能够保证各无人机满足自身运动学约束。Aiming at addressing the difficulty of maintaining formation when UAV formation turned rapidly, a novel formation path planning method is proposed based on solving formation heading angle. Using this method, not only the formation is kept, but also the kinematic constraint of each UAV is met. Firstly, the formation model was built based on the formation heading angle, and the optimal control problem was formulated by considering the kinematic constraints of each UAV. Then, the well-established pseudospectral method was used to solve the optimal control problem and cooperative formation flight paths were obtained. Finally, some numerical simulations were presented, verifying and demonstrating the developments of the paper.

关 键 词：编队队形保持 航路规划 运动学约束 伪谱法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]