无人机在线协同航迹规划时序问题

Timing Problem for UAV Online Cooperated Trajectory Planning

提出了一种满足时序约束的无人机在线协同航迹规划方法。首先采用按时间推进的协同规划机制解决了在线协同规划中信息交互存在时间间隔的问题;其次通过设计协同函数,采用自主分布计算协同变量的方法解决其时序问题,实现了协同无人机按照指定时间间隔先后达到目标区域。仿真选取同时到达和按等时间间隔到达两类典型时序问题,结果表明该方法可以快速生成符合协同时序要求的协同航迹,且满足实时性要求。

An online cooperated trajectory planning approach under timing constraints is presented. Fi- rstly, the cooperated trajectory planning adopts the time advancing mechanism to match the constraints of information transfer interval. Secondly, the cooperated function is analyzed, the distributed autono- mous computing method of the cooperated variable is designed and used to solve the cooperated timing problem. Two types of timing problem to simultaneous arrival and tight sequencing arrival are consider- ed and simulated. Simulation results demonstrate that the approach can rapidly obtain the online real- time cooperated trajectory under timing constraints.