基于改进势场和一致性的无人机编队避障方法  

An Obstacle Avoidance Method for UAV Formations Based on Improved Potential Field and Consistency

作　　者：杨永刚[1] 龚泽川 谢睿夫 YANG Yonggang;GONG Zechuan;XIE Ruifu(Civil Aviation University of China,School of Transportation Science and Engineering,Tianjin 300000,China;Civil Aviation University of China,School of Aeronautical Engineering,Tianjin 300000,China)

机构地区：[1]中国民航大学交通科学与工程学院,天津300000 [2]中国民航大学航空工程学院,天津300000

出　　处：《电光与控制》2024年第7期36-41,共6页Electronics Optics & Control

基　　金：中国高校产学研创新基金(2021ZYA02012)。

摘　　要：针对无人机编队在执行任务时存在的机间碰撞、与障碍物碰撞及编队通信等问题,将无人机动力学方程视为二阶积分模型,提出一种人工势场法和一致性理论相结合的协同避障控制策略。首先建立变增益函数来降低超调和稳态误差,并由此设计虚拟领航结构下的无人机编队一致性控制方法;然后应用分段思想,增加回环力、机间防碰撞力等来改进传统人工势场法,以解决局部最优和编队安全问题,从而实现编队避碰和避障;最后将一致性控制方法和改进后的人工势场法相结合,提出编队协同避障控制律,并利用小增益定理对其进行稳定收敛性分析。仿真结果表明,无人机编队可以实现精准避障后恢复预期编队队形,最终稳定到达目标位置。In view of the problems of UAV formations when performing tasks,such as the collisions between UAVs and with obstacles and formation communication the UAV dynamics equation is regarded as a second-order integral model and a collaborative obstacle avoidance control strategy combining artificial potential field method with consistency theory is proposed.First a variable-gain function is established to reduce the overshoot and steady-state errors and a consistent control method of UAV formation under a virtual leader structure is designed.Then the idea of segmentation is applied to increase the loop force and the anti-collision force between UAVs to improve the traditional artificial potential field method to solve the issues of local optimization and formation safety so as to achieve formation collision avoidance and obstacle avoidance.Finally the consistency control method and the improved artificial potential field method are combined to propose a collaborative formation obstacle avoidance control law and the small gain theorem is used to analyze its convergence stability.The simulation results show that the UAV formation can achieve accurate obstacle avoidance and restore the expected formation to reach the target position.

关 键 词：无人机编队 一致性 人工势场 虚拟领航者 避障 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]