基于虚拟子目标联合边界力的编队避障算法  

Formation Obstacle Avoidance Algorithm Based on Joint Virtual Sub-target and Boundary Force

作　　者：王曼 李大鹏[1] 丁良辉[2] 朱天林 Wang Man;Li Dapeng;Ding Lianghui;Zhu Tianlin(School of Communications and Information Engineering,Nanjing University of Posts and Telecommunications,Nanjing 210003,China;Department of Electronic Engineering,Shanghai Jiao Tong University,Shanghai 200030,China)

机构地区：[1]南京邮电大学通信与信息工程学院,江苏南京210003 [2]上海交通大学电子工程系,上海200030

出　　处：《系统仿真学报》2023年第9期1918-1930,共13页Journal of System Simulation

基　　金：国家自然科学基金(61801240)。

摘　　要：针对复杂环境条件下无人机(unmanned aerial vehicle,UAV)集群编队系统中领航-跟随集群的编队控制和人工势场法中的避障问题,提出了一种基于虚拟子目标联合边界力(joint virtual subtarget and boundary force,JVBF)的无人机集群编队避障算法。采用基于虚拟子目标的领航-跟随法并优化修正力函数来实现无人机集群的队形控制,以达到帮助跟随无人机快速恢复队形的目的;采用基于边界力的人工势场法负责局部路径规划,解决无人机目标不可达和狭窄通道内振荡的缺点。仿真结果表明,所提算法相较于传统算法具有更高的编队队形一致性和时间效率。In view of the formation control of leader-follower swarm and obstacle avoidance in artificial potential field method in unmanned aerial vehicle(UAV)swarm formation system under complex environmental conditions,an obstacle avoidance algorithm for UAV swarm formation based on joint virtual sub-target and boundary force(JVBF)is proposed.The leader-follower method based on a virtual sub-target is used,and the modified force function is optimized to realize the formation control of the UAV swarm,so as to help the follower UAV to recover the formation quickly;the artificial potential field method based on boundary force is used for local path planning,so as to solve the disadvantages of unreachable targets and oscillation in narrow channels of UAVs.Simulation results show that the proposed algorithm has higher formation consistency and time efficiency than the traditional algorithm.

关 键 词：人工势场 领航-跟随 虚拟子目标 修正力 边界力 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP242.6[自动化与计算机技术—计算机科学与技术]