基于路径跟随的改进领航-跟随无人机协同编队方法

Improved Method of Leader-Follower UAV Coordinated Formation Based on Path Following

针对集群无人机完成高精度协同编队的需要,提出了一种基于路径跟随的改进领航-跟随无人机协同编队方法。首先,在传统A*算法的基础上,引入了障碍威胁系数改进A*算法,为领航无人机规划从起点到目标的全局安全路径;其次,采用Hermite多项式对领航无人机的全局安全路径离散化后进行参数化表示;当遇到新的障碍信息时,利用改进A*算法重新规划路径;随后,领航无人机将跟随无人机的空间编队信息与编队路径参数信息在集群中完成同步;最后,基于一致性原理设计了编队队形协同控制器,并基于改进人工势场法设计了动态避障控制器。仿真结果表明,与传统的领航-跟随方法相比,该方法可以降低编队误差,提高了复杂曲线路径下无人机的编队精度与稳定性,具有一定的工程应用价值。

To meet the need of high-precision coordinated formation,an improved method of leader-follower UAV coordinated formation based on path following is proposed.Firstly,from the traditional A*algorithm,the obstacle threat coefficient is introduced to improve the A*algorithm to plan the global path from the starting point to the target.Secondly,the Hermite polynomial is used to parameterize the discrete flight path of the leader UAV.When it encounters new obstacles,the improved A*algorithm is used to re-plan the path,and then the space formation information and formation path parameter information of follower UAV are synchronized by leader UAV.Finally,the formation coordination and collision avoidance controllers are designed based on the consistency principle and improved artificial potential field.The simulation results show that,compared with the traditional leader-follower method,this method can reduce the formation error,and improve the formation accuracy and stability of the UAV swarm under the complex curve path,and shows the value of engineering application.