自主多无人机的分散化协同控制

Decentralized Coordination Control of Multiple Autonomous UAVs

协同前提是无人机(UAV)平台间的通信和信息共享,无人机平台之间信息和计算是高度分布的,无人机平台的运动以及通信拓扑的变化,使得集中式协调控制结构很难实现。以最小通信量为基础的分散协同控制具有可扩展性、异构性和动态可重构性等特点,可靠性和鲁棒性较好。针对多无人机平台分散化协同的特点和要求,建立了集中和分散相结合的多无人机平台协同控制系统结构,集中式任务管理系统主要完成目标分配、通信管理和编队管理功能,分散式协同部分主要实现局部任务规划、协调策略及协调控制等功能。分别以多机协同目标跟踪、多机和多编队一致性协调、多机协同编队控制与重构等多无人机平台分散化协同控制技术为应用对象,探讨了分散化协调机制、策略、控制及其与信息之间关系。给出了部分算法的仿真结果。

Coordination is based on communication and information share among multiple unmanned aerial vehicles （UAVs）. The centralized coordination control is difficult to implement since the highly distributed information and computation, the UAV movement, and the changing information network topology, The decentralized coordination control is scalable, heterogeneous, reconfigurable, and robust. The structure of coordination control system for multiple UAVs with the characteristics of decentralized control and centralized control is proposed. The centralized mission management system implements the target allocation, communication management, and formation management. The decentralized coordination system implements the local mission planning, coordination strategy, and control. Some examples of decentralized coordination control of multiple autonomous UAVs, such as coordination target tracking, consensus coordination among multiple UAVs and multiple formations, formation control and recon- figuration, are investigated. The decentralized coordination mechanism, strategy, control, and the relation with the information topology are analyzed. Some simulation results are given.