基于CVPF算法的无人机编队系统设计  

Design of UAV Formation System Based on CVPF Algorithm

作　　者：张弘达 ZHANG Hongda(Jiangxi Nuclear Surveying and Mapping Institute Group Co.,Ltd.,Nanchang 330199,China;School of Geomatics and Spatial Information Engineering,East China University of Technology,Nanchang 330199,China)

机构地区：[1]江西核工业测绘院集团有限公司,南昌330199 [2]东华理工大学测绘与空间信息工程学院,南昌330199

出　　处：《计算机测量与控制》2024年第11期322-327,共6页Computer Measurement &Control

摘　　要：随着互联网和通信技术的不断发展,无人机被广泛应用于各个领域;但现有的无人机编队控制方法,稳定性较差,无法保持良好的位置和速度一致性;因此研究提出了基于一致性联合虚拟势场的无人机编队控制方法,该方法将人工势场法与一致性控制原理融合,对目标不可达进行优化,引入惯性偏移量解决无人机惯性问题,并设计了无人机编队控制系统;实验结果表明,无人机在x和y轴方向的位置一致性测试性能良好,无人机3在30 s时y轴方向位移出现波动,最大差值10 m;无人机编队的实际悬停位置与期望悬停位置误差为0.16 m,无人机3在x和y轴方向都出现的速度波动,与其他无人机速度方向相反,最大差值分别为6.2 m/s和5.8 m/s,CVPF算法的编队变换速度分别比其他算法快了1.6 s、1.2 s、1.8 s以及2.0 s,计算复杂性仅比长机-僚机法高出6 ms;由此可得,研究提出的算法能够有效控制无人机编队的位置和速度一致性,防止出现安全事故,解决了惯性和目标不可达问题。With the continuous development of Internet and communication technology,unmanned aerial vehicles(UAVs)are widely used in various fields.However,existing UAV formation control methods have the characteristics of poor stability and inability to maintain good consistency of position and velocity.Therefore,a UAV formation control method based on coherent joint virtual potential field is proposed.This method integrates the artificial potential field method with the coherent control principle,optimizes the unreachability of the target,introduces an inertial offset to solve the inertia problem of the UAV,and designs a UAV formation control system.Experimental results show that the UAVs have good performance in the position consistency test in the x and y-axis directions,and the displacement of the UAV 3 fluctuates in the the y-axis direction at 30.0 s,with a maximum difference of 10.0 m.The actual hovering position and desired hovering position error of the UAV formation is 0.16 m,and the velocity of the UAV 3 fluctuates in both the x and y-axis directions,compared to other UAVs,the maximum errors are 6.2 m/s and 5.8 m/s in the opposite direction of velocity,respectively.The formation transformation speed of consensus virtual potential field(CVPF)algorithm is 1.6 s,1.2 s,1.8 s,and 2.0 s faster than that of other algorithms,respectively,and the computational complexity is only 6 ms higher than that of the chief and wingman method.It can be concluded that the proposed algorithm can effectively control the position and velocity consistency of UAV formation,prevent safety accidents,and solve the problems of inertia and unreachable targets.

关 键 词：无人机集群 一致性 分布式通信 虚拟势场 编队控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]