基于改进人工势场和一致性协议的协同避障算法  

Cooperative obstacle avoidance algorithm based on improved artificial potential field and consensus protocol

作　　者：张钟元 戴炜 李光昱 陈小庆 邓启波 ZHANG Zhongyuan;DAI Wei;LI Guangyu;CHEN Xiaoqing;DENG Qibo(School of Aircraft Engineering,Nanchang Hangkong University,Nanchang Jiangxi 330063,China;National Innovation Institute of Defense Technology,Academy of Military Sciences,Beijing 100850,China)

机构地区：[1]南昌航空大学飞行器工程学院,南昌330063 [2]中国人民解放军军事科学院国防科技创新研究院,北京100850

出　　处：《计算机应用》2023年第8期2644-2650,共7页journal of Computer Applications

基　　金：国家自然科学基金资助项目(52065044);南昌航空大学研究生创新专项(YC2021054)。

摘　　要：协同避障是无人机(UAV)系统的关键技术之一,而UAV集群避障期间存在队形丢失、任务失效和能源消耗增加等问题。为解决这些问题,提出了一种基于改进人工势场和一致性协议的协同避障算法。首先,根据多旋翼UAV的控制律来设计保持速度、位置一致的控制协议,并采用归一化和高阶指数缩放变换人工势场力,从而解决势场力变化幅度过大导致的振荡失效问题;然后,引入人工势场力调整一致性协议期望编队,从而解决人工势场法与一致性协议组合算法的控制冲突问题。在复杂障碍环境下,所提算法与编队划分避障算法、动态窗口避障算法进行对比仿真的结果表明,所提算法的队形平均损失程度分别下降82.60%、64.38%,任务平均失效程度分别下降98.66%、86.01%,飞行路径总长度分别下降9.95%、17.63%。可见,所提算法适用于多障碍复杂飞行环境。Cooperative obstacle avoidance is one of the key technologies of Unmanned Aerial Vehicle(UAV) system.While there exist problems of formation loss,mission failure,and increasing energy consumption during the obstacle avoidance of UAV swarm.For solving these problems,a cooperative obstacle avoidance algorithm based on improved artificial potential field and consensus protocol was proposed.First,according to the control law of multi-rotor UAVs,a control protocol to keep speed and position consistency was designed,and the artificial potential field force was scaled and transformed by normalization and high-order exponents,thereby solving the problem of oscillation failure caused by the excessive variation of the potential field force.Then,the artificial potential field force was introduced to modify the expectation formation of consensus protocol for solving the control conflict problem of the combination algorithm of artificial potential field method and consensus protocol.The proposed algorithm was simulated and compared with the formation division obstacle avoidance algorithm and dynamic window obstacle avoidance algorithm in complex obstacle environment.The results show that the proposed algorithm has the average formation loss degree reduced by 82.60% and 64.38%respectively,the average failure degree of task decreased by 98.66% and 86.01% respectively,and the total length of flight path reduced by 9.95% and 17.63% respectively.It can be seen that the proposed algorithm is suitable for the complex flight environment with multiple obstacles.

关 键 词：无人机 队形稳定性 人工势场法 一致性协议 复杂障碍环境 

分 类 号：V279[航空宇航科学与技术—飞行器设计]