多无人机时序到达协同控制方法

A Cooperative Control Method for Tight Sequencing Arrival of Multiple UAVs

时序到达控制是无人机协同控制方向新近产生的典型问题,对异构无人机协同执行搜索、跟踪、打击、评估等任务具有重要潜在价值。引入计算几何学中的Laguerre图用于航路规划,当两个威胁区域不相交时,Laguerre图生成的初始航路必然从它们之间的空隙内穿过。针对时序控制精度不高的问题,采用周期性的速度修正方法,有效提高了到达时间精度。仿真结果表明,所提出的时序到达控制方法能够有效实现多无人机时序到达,并且具有较高的鲁棒性和控制精度。

As a typical cooperative control problem, tight sequencing arrival of multiple unmanned aerial vehicles （UAVs） has great potential significance for the UAVs in cooperative searching, tracking, attacking and evaluation. Laguerre diagram was introduced from computation geometry for path planning. When any two closest threats do not intersect, the generated initial paths will pass through the interspaces between them. Velocity was periodically adjusted to improve the time precision of arrival. Simulation results show that the tight sequencing arrival of multiple UAVs can be realized with preferable robustness and precision by the proposed control method.