多无人机路径规划下冲模型  

Downthrust Model for Multi-UA V Path Planning

作　　者：陈立军 CHEN Lijun(Department of Sofiware Engineering,Guangzhou 510990,China)

机构地区：[1]广州软件学院,广州510990

出　　处：《火力与指挥控制》2023年第7期140-146,155,共8页Fire Control & Command Control

基　　金：2021年度广东省科研基金资助项目(S202112618018)。

摘　　要：针对多无人机飞行时需要规避与其他无人机相撞的问题,提出了一种模拟四旋翼无人机(UAV)产生的气流下冲效应及其对邻近无人机影响的模型,该模型推导了下冲力和扭矩,并考虑无人机的姿态,每架无人机由一个虚拟结构塑造,用于无碰撞路径规划,形状从标准球形体修改为建议的圆柱体,以更好地减少下冲冲击。为分析所提出的圆柱形无人机模型的下冲效应和性能,应用基于成群结队的路径规划算法和最优交互避碰(ORCA)算法。仿真实验证明:圆柱形模型可以提高路径规划性能。For multiple unmanned aerial vehicle(UAV)flight to avoid collision with other unmanned aerial vehicles(UAV)problem,underthrust effect of air flow generated by a simulated quadrotor unmanned aerial vehicle(UAV)and the model of the influence on adjacent unmanned aerial vehicle(UAV)are proposed,the downthrust force and torque are deduced with the model,and the posture of the unmanned aerial vehicle(UAV)is considered,each UAV is shaped from a virtual structure for collision free path planning,The shape is modified from a standard spherical shape to a proposed cylinder to better reduce downthrust impact.In order to analyze the downthrust effect and performance of the proposed cylindrical UAV model,a swarm based path planning algorithm and an optimal interactive collision avoidance(ORCA)algorithm are applied.The simulation results show that the cylindrical model can improve the performance of path planning.

关 键 词：四旋翼无人机 路径规划算法 最优交互避碰算法 下冲效应 下冲模型 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP18[自动化与计算机技术—控制理论与控制工程]