基于导航函数和MPC的飞行器编队分布式避碰控制  

Distributed Collision Avoidance Control of UAV Formation Based on Navigation Function and Model Predictive Control

作　　者：周超 王佳荣 ZHOU Chao;WANG Jiarong(No.92228 Unit of PLA,Beijing 100000,China)

机构地区：[1]中国人民解放军92228部队,北京100000

出　　处：《电光与控制》2023年第11期100-104,共5页Electronics Optics & Control

摘　　要：针对无人飞行器编队协同过程中的避碰控制问题,设计了一种基于两极导航函数与模型预测控制(MPC)相结合的飞行器编队分布式避碰控制方法。首先,利用邻居集中其他飞行器的位置信息及其目标位置,建立每架飞行器的导航函数和控制律;然后,基于MPC设计了分布式高层编队控制律,给出分布式预测控制算法;最后,以5架无人飞行器在末端攻击阶段飞向各自分配的目标点为例,对飞行器编队避碰控制方法进行了仿真。仿真结果表明,基于导航函数和MPC的飞行器编队协同避碰控制方法是有效的。To solve the problem of collision avoidance control in UAV formation cooperative operations,a distributed collision avoidance control method of UAV formation based on dipolar navigation function and Model Predictive Control(MPC)is designed.Firstly,the navigation function and control law of each UAV are established by using current position and target position of other UAVs in the neighbor set.Then,a distributed high-level formation control law based on MPC is designed and a distributed MPC algorithm is given.Finally,five UAVs'flight to the target points designated to each UAV at the stage of terminal attack is taken as an example,and the collision avoidance control method of UAV formation is simulated.The simulation results show that the collision avoidance control method of UAV formation cooperative operations based on navigation function and MPC is effective.

关 键 词：无人飞行器编队 导航函数 预测控制 分布式避碰控制 

分 类 号：V249.122.9[航空宇航科学与技术—飞行器设计]