基于改进人工势场的无人机编队避障控制研究

张佳龙 1; 闫建国 1; 张普 2; 王奔驰 3

doi:10.7652/xjtuxb201811017

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基于改进人工势场的无人机编队避障控制研究

更新时间：2025-07-09

- 基于改进人工势场的无人机编队避障控制研究
- Study on the Collision Avoidance of UAV Cooperative Formation with Improved Artificial Potential Field
- 西安交通大学学报 2018年52卷第11期页码：112-119
- 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：
  
  : 2018-04-23。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/xjtuxb201811017
  中图分类号： TP237
- 网络首发：2018-11-10，
  
  纸质出版：2018
- 稿件说明：
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张佳龙 1, 闫建国 1, 张普 2, 等. 基于改进人工势场的无人机编队避障控制研究[J]. 西安交通大学学报, 2018,52(11):112-119.

Study on the Collision Avoidance of UAV Cooperative Formation with Improved Artificial Potential Field[J]. 2018, 52(11): 112-119.
张佳龙 1, 闫建国 1, 张普 2, 等. 基于改进人工势场的无人机编队避障控制研究[J]. 西安交通大学学报, 2018,52(11):112-119. DOI： 10.7652/xjtuxb201811017.

Study on the Collision Avoidance of UAV Cooperative Formation with Improved Artificial Potential Field[J]. 2018, 52(11): 112-119. DOI： 10.7652/xjtuxb201811017.

摘要

针对人工势场方法在无人机避障过程中存在局部最小值的问题

基于虚拟结构和“长机-僚机”控制策略

提出一种复合矢量人工势场方法

有效实现了无人机编队在三维空间避开障碍物追踪运动目标的目的。该方法以3架无人机构成的编队作为研究对象

虚拟长机运动轨迹作为期望路径

障碍物简化为圆柱体

其周围的人工势场近似为球体表面。人工势场中的引力导引虚拟长机追踪目标

僚机追踪长机保持编队飞行。斥力作用使得编队避开障碍物

同时僚机不分次序和具体位置均匀地分布在以虚拟长机为球心的球体表面。无人机编队的避障路径取决于两种复合矢量的人工势场

每架无人机可选择最优路径避障

避障结束重组三角形编队飞行。通过仿真结果验证了该理论的可行性

为多无人机编队避障提供了一种思路。

Abstract

Aiming at the problem that there exists local minima in the collision avoidance process for the UAVs using artificial potential field

a composite vector artificial potential field in three-dimensional space is proposed based on the virtual structure and the “leader-follower” control strategy

which can effectively avoid the obstacle and track the moving target. Three UAVs constituting the regular triangular formation are taken as the control object

the virtual leader flight path as expected path

and the obstacle is simplified as a cylinder that the artificial potential field around them is approximately a spherical surface. The attractive control force of the artificial potential field can guide the virtual leader to track the target. At the same time

the followers track the leader to keep the formation flight. The repulsive force can affect the collision avoidance between the UAVs

and arrange the followers evenly distributed on the spherical surface. Moreover

the follower's specific orders and positions are not required. The collision avoidance path of the UAV formation depends on the artificial potential field with two composite vectors. Every UAV may choose an optimal path to avoid the obstacle and reconfigure the regular triangle formation flight after passing the obstacle. The simulation experiments verify the validity and feasibility of the proposed collision avoidance control algorithm and provide an idea for the collision avoidance of multi-UAV formation.

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references

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