基于DE-DMPC的UAV编队重构防碰撞控制

Reconfiguration collision avoidance method for UAV's formation based on DE-DMPC

当战场环境发生变化时,无人驾驶飞机(unmanned aerial vehicle,UAV)编队只有进行编队重构,才能保证编队的生存能力。在重构过程中碰撞问题严重威胁UAV安全应着重考虑。通过对UAV编队重构防碰撞问题进行分析,提出采用分布式模型预测控制(distributed model predictive control,DMPC)的方法,将编队重构问题转化为滚动在线优化问题。结合碰撞约束建立重构代价函数,针对代价函数求解复杂的问题,提出采用改进微分进化(differential evolution,DE)算法求解代价函数,并对算法的收敛性进行了分析。仿真实验表明,所提出的算法能够有效实现编队重构防碰撞控制,同时其代价更小、寻优能力更强。

Flight formation of unmanned aerial vehicles （UAV ）needs to be reconfigured when the battle environ-ment is modified.The collision problem poses a great threat to the formation reconfiguration which thus is a key factor to consider.Based on the analysis of the collision problem during reconfiguration,distributed model predictive control （DMPC）is put forward to transform the reconfiguration problem into a series of on-line optimizations.After the setup of the cost function with collision restriction taken into consideration,a modified differential evolution （DE）algorithm is proposed to cope with the complex cost function.Furthermore,the convergence of this algorithm is validated.The simulation results show that the proposed algorithm can realize formation reconfiguration without collision while the op-timization result and cost are superior to standard DE algorithms.