基于改进势场法的多无人机避碰控制方法  

Improved Potential Field Method for Multi-UAV Collision Avoidance Control

作　　者：陈佳 张珂 杜英森 陈楠祺 CHEN Jia;ZHANG Ke;DU Yingsen;CHEN Nanqi(No.212 Institute of China Ordnance Industry Corporation,Xi'an 710065,China;Science and Technology on Electromechanical Dynamic Control Laboratory,Xi'an 710065,China)

机构地区：[1]中国兵器工业集团第二一二研究所,陕西西安710065 [2]机电动态控制重点实验室,陕西西安710065

出　　处：《探测与控制学报》2024年第4期93-100,共8页Journal of Detection & Control

摘　　要：针对多架无人机飞行过程中机间避碰及规避障碍物的问题,提出了基于改进势场法的多无人机避碰控制方法。该方法首先建立无人机机间避碰势场模型,在控制律中引入虚拟力和一致性控制策略,以解决松散队形约束的无人机机间避碰问题;然后采用基于旋转势场法的避障方法,设计了多机协同整体规避策略,利用基于虚拟力的路径跟踪策略来跟踪航线。仿真结果表明,所提方法能使多架无人机有效避碰和规避障碍物,并回到预规划航线上。In response to the problem of inter-UAV collision avoidance and obstacle avoidance during the flight of multiple unmanned aerial vehicles(UAVs),an improved potential field method for multi-UAV collision avoidance control was proposed.This method established a collision avoidance potential field model for UAVs,introduced virtual forces and consensus control strategies into the control law to address the inter-UAV collision avoidance issue under loose formation constraints;then,an obstacle avoidance method based on the rotational potential field was adopted,and a multi-UAV collaborative overall avoidance strategy was designed.Finally,a virtual force-based path tracking strategy was utilized to track the flight route.Simulation results demonstrated that the method proposed in this paper enabled multiple UAVs to effectively avoid collisions and obstacles and return to the pre-planned flight route.

关 键 词：多无人机 人工势场法 机间避碰 虚拟力 路径跟踪 

分 类 号：TJ765.2[兵器科学与技术—武器系统与运用工程]