摘要
为了解决无人机在空域交通中的感知-规避安全性需求问题,根据无人机的感知能力定义空域交通的安全边界,采用微分对策和生存能力理论对感知-规避问题进行描述和分析,提出一个理论框架和解决方案,给出了安全区域对无人机飞行策略和制导律的影响.只要无人机与冲突航线内的其他飞行器保持必要的间隔,所提出的方法就可采取有效的策略减小冲突航线上的不确定边界,并选择相应的规避决策调整航线,避免飞行冲突.
In order to resolve the safety requirement of unmanned aerial vehicle (UAV) sense and avoid system in the air traffic, some nested zones around the UAV according to its sensing capacity in the air traffic are defined. By using the differential game and the viability theory in this problem, the UAV sense and avoid problem based on these theory is defined and analyzed, and a theory framework and a solution scheme are proposed on the basis of the above work. As a conclusion, a flight strategy and guidance law associated with the safety zones is given. The uncertainty margin on other traffic intruder trajectories is reduced, by adopting some effective evasion maneuvers if only necessary separation with other aircrafts is held. Consequently, the flight trajectory is adjusted to avoid a flight conflict.
出处
《控制与决策》
EI
CSCD
北大核心
2014年第12期2195-2200,共6页
Control and Decision
基金
国家自然科学基金项目(61105012)
航空科学基金项目(20135896027)
博士后基金面上项目(2012M512149)
关键词
无人机
感知-规避
安全区域
决策
unmanned aerial vehicle
sense and avoid system
safety region
decision-making