多无人机编队避障和编队重构方法  

Formation obstacle-avoidance and reconfiguration method for multiple UAVs

作　　者：穆凌霞 周政君 王斑[2] 张友民[3] 薛向宏 宁凯凯 MU Lingxia;ZHOU Zhengjun;WANG Ban;ZHANG Youmin;XUE Xianghong;NING Kaikai(Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing(Xi’an University of Technology),Xi’an Shaanxi 710048,China;School of Aeronautics,Northwestern Polytechnical University,Xi’an Shaanxi 710072,China;Department of Mechanical,Industrial&Aerospace Engineering,Concordia University,Montreal H3G 1M8,Canada)

机构地区：[1]复杂系统控制与智能信息处理陕西省重点实验室(西安理工大学),西安710048 [2]西北工业大学航空学院,西安710072 [3]康考迪亚大学机械、工业与航空工程系,加拿大蒙特利尔H3G 1M8

出　　处：《计算机应用》2024年第9期2938-2946,共9页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61903297,61833013);中国博士后科学基金资助项目(2022MD723834)。

摘　　要：针对多无人机(UAV)编队飞行过程中的避障和故障问题,提出一种编队动态变换与重构方法。编队内UAV将障碍物和其余UAV作为动态威胁,根据当前飞行环境自适应地改变航迹评价函数的得分权重,提高编队在动态环境下的避障能力;当编队中某一UAV故障时,对剩余UAV进行编队队形重构,改变动态窗口法(DWA)目标函数中僚机相对于长机的位置,实时调整得到新的编队,从而实现容错编队飞行。仿真实验结果表明,所提编队避障和重构方法能够实现动态避障以及单机故障或动力不足情况下的容错编队飞行;与传统DWA相比,所得到的编队无人机间距离误差更小。Aiming at the problems of obstacles and failures in multi-UAV(Unmanned Aerial Vehicle)formation flight,a dynamic formation switching and reconfiguration method was proposed.For a certain UAV in the formation,the obstacles and other UAVs in formation were regarded as dynamic threats.By adaptively adjusting score weights considering different flying scenarios,the ability of the UAV formation to avoid obstacles in dynamic environment was improved.When one UAV in the formation occurs faults,the remaining UAVs were formation reconfigured.By changing the positions of the followers relative to the leader in the objective function of the dynamic window approach,a new formation without the fault UAV was reconfigured.By this means,fault-tolerant formation could be obtained.Simulation results show that the proposed formation obstacle avoidance and reconfiguration algorithm can realize dynamic obstacle avoidance and fault-tolerant formation flight in the case of one UAV fault or lack of power.At the same time,compared with the traditional method,the distance error between the UAVs in the formation is lower.

关 键 词：无人机 编队避障 队形变换 队形重构 容错编队 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] V279[自动化与计算机技术—计算机科学与技术]