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针对基于视觉的多无人机协同目标跟踪控制律设计问题,对无人机协同控制策略进行了研究。分别提出了两架及多架无人机协同速度控制律,使无人机能够动态调整速度,以较低速度跟踪目标。针对多架无人机提出了一种最小化各无人机到目标夹角误差平方和的夹角误差定义方法,提高了无人机协同效率。仿真实验验证了本文提出的夹角误差定义方法和协同控制律的有效性。
In order to solve the design problem of cooperative target tracking control law of multi-UAV based on vision, the cooperative control strategy of UAV is studied. Proposed two or more UAV coordinated speed control law, so that the UAV can dynamically adjust the speed to track the target at a lower speed. Aiming at the multi-UAV, a method of defining the angle error to minimize the square sum of the error angle of each target to the target is proposed, which improves the coordination efficiency of the UAV. The simulation experiment verifies the effectiveness of the definition of angle error and the cooperative control law proposed in this paper.