基于一致性算法的无人机协同编队避障研究

张佳龙 1; 闫建国 1; 张普 1; 王奔驰 2

doi:10.7652/xjtuxb201809023

您当前的位置：

首页 >

文章列表页 >

基于一致性算法的无人机协同编队避障研究

更新时间：2025-05-01

- 基于一致性算法的无人机协同编队避障研究
- Collision Avoidance of Unmanned Aerial Vehicle Formation Based on Consensus Control Algorithm
- 西安交通大学学报 2018年52卷第9期页码：168
- 作者机构：
  
  西北工业大学自动化学院,西安,710129
- 作者简介：
- 基金信息：
  
  : 2018-03-14。作者简介: 张佳龙(1990—),男,博士生;闫建国(通信作者),男,教授,博士生导师。基金项目: 国家自然科学基金资助项目(60974146,61473229)
- DOI：10.7652/xjtuxb201809023
  中图分类号： TP237
- 网络首发：2018-09-10，
  
  纸质出版：2018
- 稿件说明：
移动端阅览
张佳龙 1, 闫建国 1, 张普 1, 等. 基于一致性算法的无人机协同编队避障研究[J]. 西安交通大学学报, 2018,52(9):168-0.

Collision Avoidance of Unmanned Aerial Vehicle Formation Based on Consensus Control Algorithm[J]. 2018, 52(9): 168-0.
张佳龙 1, 闫建国 1, 张普 1, 等. 基于一致性算法的无人机协同编队避障研究[J]. 西安交通大学学报, 2018,52(9):168-0. DOI： 10.7652/xjtuxb201809023.

Collision Avoidance of Unmanned Aerial Vehicle Formation Based on Consensus Control Algorithm[J]. 2018, 52(9): 168-0. DOI： 10.7652/xjtuxb201809023.

摘要

基于人工势场方法

提出了一种双向网络连接结构的多无人机一致性避障控制算法。该算法能够有效避免无人机之间以及无人机与障碍物之间发生碰撞

实现协同编队飞行

完成任务。将所提出的一致性算法与“长机-僚机”控制策略结合起来应用到编队控制中

能够避免无人机之间以及无人机与障碍物之间发生碰撞

确保无人机编队收敛。文中以3架无人机构成正三角形编队作为控制对象

以长机飞行轨迹作为期望路径

僚机跟踪长机保持正三角形编队飞行

且无人机之间以及无人机与靠近障碍物内侧的僚机与障碍物保持安全距离

长机和僚机在水平面具有相同的前进速度和航向角速率

在垂直方向保持相对距离不变。通过仿真实验验证了所提出的控制算法的有效性

对工程应用具有一定的借鉴意义。

Abstract

A collision avoidance control algorithm for multiple unmanned aerial vehicles(UAVs)based on bidirectional network connection structure is proposed

which can effectively avoid collision among UAVs and between UAVs and obstacles to realize collaborative formation flight and complete the mission. In order to avoid collisions

the proposed consensus algorithm and the “leader-follower” control strategy are combined into formation control to ensure the convergence of formation. Three UAVs constitute the triangular formation as the control object

where the leader flight path is taken as the expected path and the followers track the leader to maintain the triangle formation flight. Safe distances should be kept between the UAVs and between the obstacle and the follower which is closest to the obstacle. In the horizontal plane

the leader and followers should have the same forward speed and heading angle rate

while in the vertical direction

they keep the relative distance constant. This consensus collision avoidance algorithm for multiple UAVs is based on the artificial potential field method

and simulation experiment verifies its validity.

关键词

Keywords

references

ZHU C, LIANG X, HE L, et al. Demonstration and verification system for UAV formation control [C]∥IEEE International Conference on Control Science and Systems Engineering. Piscataway, NJ, USA: IEEE, 2017: 56-60.

HSU C C, HOU R Y, WANG W Y. Path planning for mobile robots based on improved ant colony optimization [C]∥IEEE International Conference on Systems, Man, and Cybernetics. Piscataway, NJ, USA: IEEE, 2014: 2777-2782.

HAN S C, BANG H, YOO C S. Proportional navigation-based collision avoidance for UAVs [J]. International Journal of Control Automation Systems, 2009, 7(4): 553-565.

JIE L, YAN Q D, YUE M A, et al. Global path planning based on improved ant colony optimization algorithm for geometry [J]. Journal of Northeastern University, 2015, 36(7): 923-928.

SEO J, KIM Y, KIM S, et al. Consensus-based reconfigurable controller design for unmanned aerial vehicle formation flight [J]. Journal of Aerospace Engineering, 2012, 226(7): 817-829.

YANG A, NAEEM W, FEI M. Decentralised formation control and stability analysis for multi-vehicle cooperative manoeuvre [J]. IEEE/CAA Journal of Automatica Sinica, 2016, 1(1): 92-100.

GARCIA E, CASBEER D W. Cooperative task allocation for unmanned vehicles with communication delays and conflict resolution [J]. Journal of Aerospace Computing Information Communication, 2015, 13(2): 1-13.

WILLIAMS G, WAGENER N, GOLDFAIN B, et al. Information theoretic MPC for model-based reinforcement learning [C]∥IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2017: 1714-1721.

ZAVLANOS M M, PAPPAS G J. Potential fields for maintaining connectivity of mobile networks [J]. IEEE Transactions on Robotics, 2007, 23(4): 812-816.

ATINC G M, STIPANOVIC D M, VOULGARIS P G, et al. Collision-free trajectory tracking while preserving connectivity in unicycle multi-agent systems [C]∥American Control Conference. Piscataway, NJ, USA: IEEE, 2013: 5392-5397.

KURIKI Y, NAMERIKAWA T. Control of formation configuration using leader-follower structure [J]. JSDD, 2013, 7(3): 254-264.

张先迪, 李正良. 图论及其应用 [M]. 北京: 高等教育出版社, 2005: 18-20.

KURIKI Y, NAMERIKAWA T. Control of formation configuration using leader-follower structure [J]. JSDD, 2013, 7(3): 254-264.

郭伟强. 基于一致性理论的无人机编队控制器设计 [D]. 哈尔滨: 哈尔滨工业大学, 2013: 16-19.

KURIKI Y, NAMERIKAWA T. Formation control of UAVs with a fourth-order flight dynamics [C]∥Decision and Control. Piscataway, NJ, USA: IEEE, 2014: 6706-6711.

LI Guifang, CHEN Ye-hwa. Adaptive robust control for stochastic nonlinear systems with matched conditions [C]∥36th Chinese Control Conference. Dalian, China: Dalian University of Technology Press, 2017: 1844-1849.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

采用极点配置的自动驾驶汽车换道路径规划与跟踪控制

使用三维栅格地图的移动机器人路径规划

混合电解槽阵列协同的风光耦合制氢系统双层多目标优化

不同板叠材料热声热机能量转换过程数值模拟研究

语义区分和子图整合驱动的知识图谱表示学习方法