基于改进序列凸优化的多无人机航迹规划方法  

Trajectory planning method based on improved sequential convex optimization algorithm for multiple UAVs

作　　者：穆凌霞 李筱 王斑[2] 张友民[3] 冯楠 薛向宏 MU Lingxia;LI Xiao;WANG Ban;ZHANG Youmin;FENG Nan;XUE Xianghong(School of Automation and Information Engineering,Xi’an University of Technology,Xi’an 710048,China;School of Aeronautics,Northwestern Polytechnical University,Xi’an 710072,China;Department of Mechanical,Industrial&Aerospace Engineering,Concordia University,Montreal H3G1M8,Canada;School of Intelligence Science and Technology,University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]西安理工大学自动化与信息工程学院,陕西西安710048 [2]西北工业大学航空学院,陕西西安710072 [3]康考迪亚大学机械、工业与航空工程系,蒙特利尔H3G1M8 [4]北京科技大学智能科学与技术学院,北京100083

出　　处：《智能系统学报》2025年第1期128-138,共11页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(61903297,52472418,61833013,62103326);航空科学基金项目(2024Z0710T6002);中国博士后科学基金项目(2022MD723834).

摘　　要：随着人工智能技术的迅速发展,利用多架无人机执行飞行任务成为研究的热点之一。本文研究多架无人机到达同一目标点的航迹规划问题,首先建立最优控制问题,采用符号距离函数将非凸避障约束进行凸化;接着考虑了无人机离散序列间的避障约束,保证在连续时间内多无人机的飞行安全;最后提出了自适应信赖域序列凸优化算法,能够保证在每次序列迭代中都能找到近似凸子问题的解,快速求解得到多无人机最优航迹。该算法适用于威胁环境下多无人机协同到达指定的目标点,具有较快的收敛速度。The rapid development of artificial intelligence technology in recent years has made the execution of collaborative tasks using multiple unmanned aerial vehicles(UAVs)a prominent research topic.In this study,the path planning problem for a multi-UAV cooperative arriving at a target point in a complex environment is studied.First,an optimal control problem is formulated.The non-convex obstacle avoidance constraints are addressed using the sign distance function.Then,the obstacle avoidance constraints between the discrete sequences of UAVs are considered to ensure continuous flight safety for multiple UAVs.Finally,a convex optimization algorithm for adaptive feasible region sequences is proposed,which ensures that the solution of the approximate convex problem can be found in each sequence iteration and the optimal trajectory of multiple UAVs can be quickly determined.The algorithm is suitable for a multi-UAV cooperative arriving at specific target points in an obstacle environment and has a fast convergence speed.

关 键 词：多无人机 航迹规划 避障约束 符号距离函数 凸优化 自适应信赖域 近似凸子问题 协同到达 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]