基于人工势场的配送无人机集群动态航迹规划

Dynamic Flight Trajectory Planning of Distribution UAV Cluster Based on Artificial Potential Field

针对配送无人机集群飞行过程中的安全问题,设计并实现一种基于人工势场的配送无人机集群动态航迹规划方法。分别考虑集群中无人机之间和无人机与静态障碍物之间的避碰,通过增加紧急避碰斥力来改进势场函数。在此基础上,采用内、外反馈回路的自动控制系统,将避障/避碰方法与基于领航—跟随法的编队跟踪控制模块相结合,实现配送无人机集群的动态航迹规划,以实现动态、实时地避障/避碰。利用Matlab对配送无人机集群在三维环境中的碰撞和针对静态障碍物的避障进行仿真,证明上述方法的有效性。

Aiming at the safety problems in the flight process of distribution UAV cluster,a dynamic flight trajectory planning method of distribution UAV cluster based on artificial potential field is designed and implemented in this paper.Firstly,considering the collision avoidance between UAVs and between UAVs and static obstacles in the distribution UAV cluster respectively,the potential field function is improved by increasing the emergency collision avoidance repulsion force.Then,the automatic control system of internal and external feedback loop is adopted,and the obstacle avoidance/collision avoidance method is combined with the formation tracking control module based on pilot follow method to realize the dynamic flight trajectory planning of the distribution UAV cluster,so as to realize the dynamic real time obstacle avoidance/collision avoidance.Finally,the collision of distribution UAV cluster in three-dimensional environment and obstacle avoidance against static obstacles are simulated in Matlab to prove the effectiveness of the above method.