无人机集群协同控制技术综述  

Review on cooperative control technology of UAV swarm

作　　者：张鹏飞[1,2] 何印 马振华 李亚文 ZHANG Pengfei;HE Yin;MA Zhenhua;LI Yawen(School of Aerospace Engineering,North University of China,Taiyuan 030051,China;Intelligent Weapon Research Institute,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学航空宇航学院,太原030051 [2]中北大学智能武器研究院,太原030051

出　　处：《兵器装备工程学报》2024年第4期1-9,共9页Journal of Ordnance Equipment Engineering

基　　金：山西省基础研究计划资助项目(202103021224182);山西省基础研究计划资助项目(202103021224187);山西省研究生创新项目(2022Y594)。

摘　　要：协同控制技术作为多智能体分工合作完成任务的关键核心技术,能解决无人机集群编队、队形重构和避障避碰等问题,是无人机集群正常运作的基础。针对近几年国内外无人机集群协同控制技术的发展历程,概述3种控制结构原理及其优缺点;分析了基于3种控制结构的编队控制方法及其优缺点;从无人机集群协同编队控制技术出发,分析基于编队控制的避障方法;指出了现阶段无人机集群协同控制技术面临的瓶颈问题,并对协同控制技术的未来发展方向进行了展望,为无人机集群编队控制和避障方法研究提供一定的借鉴。Cooperative control technology is one of the key technologies of multi-agent to complete cooperative tasks,it can solve the problems of UAVs formation,formation reconstruction and obstacle avoidance.It is the basis for the normal operation of UAV swarm.Aiming at the development process of UAV swarm cooperative control technology at home and abroad in recent years,firstly,three control structures and their advantages and disadvantages are summarized;then the formation control methods based on three control structures and their characteristics are analyzed;in addition,various obstacle avoidance methods are analyzed from the perspective of cooperative formation control technology;finally,the bottleneck problem of the current UAV swarm cooperative control technology is proposed,and the future development direction of cooperative control technology is prospected,which provides some help for the research of UAVs formation control and obstacle avoidance methods.

关 键 词：无人机集群 协同控制 控制结构 编队控制 协同避障 

分 类 号：V249[航空宇航科学与技术—飞行器设计]