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建立了多无人机协同规避控制模型,并提出了一种基于纳什最优的分布式模型预测控制算法。仿真结果表明,基于纳什最优的分布式模型预测控制算法有效地实现了多架无人机对障碍物的规避,并且相对于集中式模型预测控制算法减少了求解过程中的计算量,缩短了优化控制的时间,改善了系统的实时性。
A multi-UAV collaborative avoidance control model is established and a distributed model predictive control algorithm based on Nash optimization is proposed. The simulation results show that the Nash optimal distributed model predictive control algorithm can effectively avoid the obstacle of multiple UAVs and reduce the computational cost and shorten the computational process compared with the centralized model predictive control algorithm Optimize the control of the time, improve the system’s real-time.