多无人机编队协同保持的速度矢量场算法

详细信息    查看全文 | 推荐本文 |

英文篇名：A Velocity Vector Field Algorithm for Multi-UAV Cooperative Formation Keeping 作者：施书成 ; 曹东 ; 张岑 英文作者：SHI Shu-cheng;CAO Dong;ZHANG Cen;College of Automation Engineering, Nanjing University of Aeronautics and Astronautics; 关键词：无人机 ; 协同编队 ; 速度矢量场法 ; Leader-follower法 英文关键词：UAV;;cooperative formation;;velocity vector field method;;Leader-follower method 中文刊名：DGKQ 英文刊名：Electronics Optics & Control 机构：南京航空航天大学自动化学院; 出版日期：2018-12-06 17:20 出版单位：电光与控制 年：2019 期：v.26;No.250 语种：中文; 页：DGKQ201904011 页数：5 CN：04 ISSN：41-1227/TN 分类号：58-62

摘要

主要对基于速度矢量场的无人机编队协同保持问题进行研究。首先以Leader-follower编队为研究对象,建立了无人机数学模型。在此基础上,借鉴人工势场法,引入相对速度矢量,给出无人机间的引力函数和斥力函数,完成了速度矢量场建模。在速度矢量场作用下,无人机编队能够实现队形保持,并保证无人机之间不会相互碰撞。最后搭建仿真验证平台,验证了该算法的可行性和有效性。
        This paper focuses on the study of UAV formation keeping based on velocity vector field. Firstly, the Leader-follower formation is taken as the research object, and the mathematical model of the UAV is built. Secondly, by referring to the artificial potential field method, the relative velocity vector is introduced,the attractive force function and the repulsive force function between the UAVs are given, and the modeling of the velocity vector field is completed. Under the influence of the velocity vector field, the UAVs can keep the formation and do not collide with each other. Finally, a simulation verification platform is built to verify the feasibility and effectiveness of the algorithm.

引文

[1]STEVENS B L,LEWIS F L,JOHNSON E N.Aircraft control and simulation[M].2nd ed.New York:John Wiley&Sons,Inc.,2003.
    [2]叶媛媛.多UCAV协同任务规划方法研究[D].长沙:国防科学技术大学,2005.
    [3]韩冰,张秋菊,徐世录.无人战斗机的现状与发展趋势[J].飞航导弹,2005(10):45-49,64.
    [4]KEVICZKY T,BORRELLI F,FREGENE K,et al.Decentralized receding horizon control and coordination of autonomous vehicle formations[J].IEEE Transactions on Control Systems Technology,2008,16(1):19-33.
    [5]LEWIS M A,TAN K H.High precision formation control of mobile robots using virtual structures[J].Autonomous Robots,1997,4(4):387-403.
    [6]YUN X P,ALPTEKIN G,ALBAYRAK O.Line and circle formation of distributed physical mobile robots[J].Journal of Robotic Systems,1997,14(2):63-76.
    [7]任德华,卢桂章.对队形控制的思考[J].控制与决策,2005,20(6):601-606.
    [8]钱志丛.无人机编队飞行队形控制研究[D].厦门:厦门大学,2011.
    [9]程晓明.无人机双机协同航迹规划技术研究[D].南京:南京航空航天大学,2015.
    [10]张凤,孙哲,刘美菊.基于Leader-follower与人工势场的多移动机器人编队控制[J].沈阳建筑大学学报:自然科学版,2010,26(4):803-807.
    [11]程晓明,曹东,李春涛.多无人机协同航迹规划技术研究[J].航空计算技术,2014,44(4):71-75.
    [12]朱旭,闫茂德,张昌利,等.基于改进人工势场的无人机编队防碰撞控制方法[J].哈尔滨工程大学学报,2017,38(6):961-968.