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针对无人机编队飞行过程中的机间防碰撞、障碍物规避问题,提出了基于改进人工势场的防碰撞控制方法。利用一致性理论,引入了通信拓扑和通信权重的概念,给出了改进的机间人工势场函数和作用区域。定义了无人机与空域障碍物的斥力势,构建了受二者相对运动速度影响的辅助斥力势,使无人机高效地规避障碍物,并给出了机间防碰撞、障碍物规避的总速度场。提出了防碰撞控制算法,给出了速度、俯仰角、偏航角等防碰撞指令;设计了一种飞行控制器来跟踪防碰撞指令,构建了含防碰撞控制算法、飞行控制器的完整编队系统。三维飞行仿真结果表明:所提编队防碰撞控制方法可以快速实现机间防碰撞,并能有效规避空域障碍物。
Aiming at the anti-collision and obstacle avoidance problems during the formation of UAVs, an anti-collision control method based on improved artificial potential field is proposed. By using the theory of consistency, the concept of communication topology and communication weight is introduced, and the improved function of artificial potential field and the area of action are given. The repulsion potential of UAV and airspace obstacle is defined, and the auxiliary repulsive force which is influenced by the relative velocity of the two is established so that the UAV can avoid the obstacle efficiently and the anti-collision and obstacle avoidance Total speed field. An anti-collision control algorithm is proposed, and anti-collision commands such as velocity, pitch angle and yaw angle are given. A flight controller is designed to track the anti-collision commands and a complete formation with anti-collision control algorithm and flight controller system. The results of 3D flight simulations show that the proposed collision avoidance control method can quickly achieve anti-collision between machines and can effectively avoid airspace obstacles.