基于模型预测控制的无人机编队自主重构研究

Study on UAVs Formation Autonomous Reconfiguration Based on MPC

当编队任务变化或环境变化时,编队需要进行重构。研究了无人机编队的通信拓扑、任务拓扑和控制体系结构,分析了编队重构任务耦合、碰撞避免和动态拓扑的特点,对无人机编队重构问题建立了数学模型,提出使用模型预测控制方法对无人机编队重构这一受约束优化问题进行解算。仿真结果表明,基于模型预测控制的编队重构控制能够很好的解决任务耦合、动态环境和碰撞避免的问题。

While tasks of multi-UAV formation or environment were changing,a formation reconfiguration was demanded.The communication topology,assignments topology and control architecture were studied.Mission coupling,collision avoidance and dynamical topology were features of a formation reconfiguration process.The mathematic model for multi-UAV formation reconfiguration was build,and a formation reconfiguration algorithm based on model predictive control was presented.To verify the multi-UAV system,a simulation system was developed.Simulation results demonstrate that the multi-UAV formation reconfiguration algorithm based on model predictive control can handle problems of mission coupling,dynamical environment and collision avoidance.