| 引用本文: | 蒋婉玥,王道波,王寅,杨军.基于时变向量场的多无人机编队集结控制方法[J].控制理论与应用,2018,35(9):1215~1228.[点击复制] |
| JIANG Wan-yue,WANG Dao-bo,WANG Yin,YANG Jun.A vector field based method for multi-UAV simultaneous arrival[J].Control Theory and Technology,2018,35(9):1215~1228.[点击复制] |
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| 基于时变向量场的多无人机编队集结控制方法 |
| A vector field based method for multi-UAV simultaneous arrival |
| 摘要点击 3573 全文点击 1305 投稿时间：2017-04-05 修订日期：2018-03-18 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2018.70225 |
| 2018,35(9):1215-1228 |
| 中文关键词 无人机 编队飞行 向量场 自动控制 |
| 英文关键词 unmanned aerial vehicle formation flight vector field automatic control |
| 基金项目 国家留学基金委项目(201706830077)资助. |
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| 中文摘要 |
| 编队集结是无人机编队飞行的必要条件. 固定翼无人机由于其速度可变范围有限, 难以通过单一的速度调
整的方式构成编队. 本文提出了一种以路径调节为主、速度调节为辅的无人机编队集结策略, 根据各无人机到达集
结位置的最短预估时间确定集结时间. 并提出一种时变向量场的构造方式, 将水平机动的思想与时变向量场相结
合, 根据无人机的飞行状况通过时变向量场实时调整路径长度, 同时调整自身速度, 使各无人机都能在集结时间到
达集结位置, 且速度和航向角保持一致, 从而实现编队集结. 随后证明了系统的收敛性, 并分析了实际情况中避撞
问题的处理. 论文用某型无人机的大偏差非线性数学模型对所提的编队集结方法进行了验证, 证明了所提方法具
有较好的实用性. |
| 英文摘要 |
| The simultaneous arrival of unmanned aerial vehicles (UAVs) is a fundamental condition for UAV formation
flight. Fixed-wing UAVs have limited forward speed, which makes it difficult to achieve simultaneous arrival by using only
speed adjustment. This paper proposes a UAV simultaneous arrival method. It integrates trajectory adjustment to speed
tuning, and changes the arrival time according to the UAVs’ estimated flight time. A time varying vector field is constructed
to adjust the flight trajectory in real time. The UAVs changes their trajectories by using the vector field, therefore changes
the flight time. With both trajectory and speed variation, the UAVs can arrive at their given positions simultaneously with
consistent speed and heading angles. The convergence of the system is analyzed, and the collision avoidance problem
is addressed. A large deviation nonlinear mathematical UAV model is used for simulation, and the results show that the
proposed method works well. |
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