分布式无人机队列控制与动态障碍规避设计  

Distributed unmanned aerial vehicle platoon control with dynamic obstacle avoidance

作　　者：鲜斌 许鸣镝 王岭[2] XIAN Bin;XU Ming-di;WANG Ling(School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;Tianjin Navigation Instrument Research Institute,Tianjin 300451,China)

机构地区：[1]天津大学电气自动化与信息工程学院,天津300072 [2]天津航海仪器研究所,天津300451

出　　处：《控制与决策》2022年第9期2226-2234,共9页Control and Decision

基　　金：国家重点研发计划项目(2018YFB1403900);国家自然科学基金项目(91748121,90916004).

摘　　要：研究分布式无人机集群巡航任务中的协同路径跟踪问题与动态避障控制问题.利用transverse feedback linearization(TFL)方法对无人机的动力学模型进行变换,通过解耦控制实现对期望巡航路径的跟踪.在期望路径方向上,设计基于一致性协议的分布式无人机队列协同控制算法,并结合势场法设计协同巡航过程中对移动障碍物的规避控制策略.在队列达成一致性目标的同时,能够保障队列行进的安全性.基于Lyapunov分析方法和LaSalle不变原理证明闭环系统的稳定性,同时采用能量法证明队列中的无人机不会与动态障碍物发生碰撞.最后,基于搭建的无人机协同飞行实验平台,完成多架无人机的协同队列控制和移动障碍物规避实验,飞行实验结果验证了所设计协同控制算法与避障控制策略的有效性.In this paper,the cooperative cruising control and dynamic obstacle avoidance problems for unmanned aerial vehicle(UAV)platoon are investigated.The transverse feedback linearization(TFL)method is employed to transfer the dynamic model of UAVs,and a decoupled control input is designed for the platoon to follow the desired path.Following the cruise path,a distributed control strategy based on the consensus protocal is developed.In order to ensure the safety of the UAV platoon which is subject to the moving obstacle,this paper also proposes an obstacle avoidance control strategy via the combination of the potential field methodology with the consensue protocal.The stability of the proposed control strategy is proved via the Lyapunov based stability analysis and the LaSalle’s invariance principle.Meanwhile,it is proved through the energy-based analysis that no collisions occur between any agent in the vehicle platoon and the moving obstacle.Finally,real-time experiments of cooperative flight control and obtacle avoidance are performed to demonstrate the effctiveness of the proposed control strategy.

关 键 词：无人机队列 一致性 势场法 避障 分布式控制 非线性控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]