基于领航-跟随的无人机编队避碰飞行控制  

Control Research on Formation of UAVs in Flight without CollisionBased on Leader-follower

作　　者：鲁军 杨杰 郝永平[2] 杨丽圆 王俊杰 LU Jun;YANG Jie;HAO Yongping;YANG Liyuan;WANG Junjie(Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学自动化与电气工程学院,沈阳110159 [2]沈阳理工大学装备与工程学院,沈阳110159

出　　处：《沈阳理工大学学报》2024年第4期38-43,50,共7页Journal of Shenyang Ligong University

基　　金：辽宁省应用基础研究计划项目(2022JH2/101300254)。

摘　　要：为实现多无人机之间队形的动态保持,针对从机对主机轨迹的实时追踪和主从机之间航向角的准确同步问题,设计一种以无人机之间距离和角度为变量的领航-跟随算法,在此基础上设计一种误差比例控制器以实现编队队形动态保持;在解决无人机内部避碰的问题上,建立一种球类避碰算法,避免无人机之间因碰撞而影响队形。通过Matlab仿真平台验证无人机集群编队算法,实验结果表明:改进的领航-跟随算法能够稳定地操控多架无人机,实现编队飞行;改进的无人机避碰算法能够有效维持编队的队形,并确保编队成员之间有足够的安全间距;算法的改进不仅提高了无人机编队控制的稳定性,而且能够应对更加复杂的环境条件。For the dynamic formation of multiple UAVs,a pilot-following algorithm based on the distance and angle between UAVs is designed to realize the real-time tracking of the main aircraft trajectory and the accurate synchronization of the heading angle between the master and slave air-craft.To avoid UAV collision,a ball-type obstacle avoidance algorithm is established to prevent al-teration of the formation of UAV caused by collision.The experimental results of UAV clustering algorithm verified by Matlab simulation platform show that the improved pilot-following algorithm can stably control multiple UAVs and realize formation in flight.The improved UAV collision a-voidance algorithm can effectively maintain the formation and ensure that there is enough safe dis-tance between the formation members,indicating that the improved algorithm not only improves the stability of the UAV formation control,but also can cope with more complex environmental condi-tions.

关 键 词：领航-跟随法 误差比例控制器 球类避碰算法 无人机编队 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]