摘要
以多架无人机为研究对象,控制多无人机对目标实施协同攻击,并保证多无人机以指定时间到达目标或同时到达目标,最大限度地提高作战效能,是一个极具理论价值和军事应用的问题。确定了多无人机多级分布式协调策略,明确了协同变量与协同函数的概念和相应的数学表达式,以及领机与僚机间的通讯关系,最后利用基于协同变量和协同函数的多级分布式控制策略,有效解决了具有时间约束的多无人机协同航迹控制问题,设计仿真算法,并通过具体的仿真分析,验证了算法的有效性。
It is of high theoretical value and practical significance to study multi-UAV cooperative path control strategy, making it support muhi-UAV attack on multi-target coordinately, and control the UAVs to arrive the target location at the same or given time in order to maximize the operational effectiveness. The coordination strategy of multi-level distributed control architecture is determined. The concepts and the corresponding expressions of coordination variable and coordination function are presented, and the communication relation between lead plane and wing planes is given. Finally, the problem of muhi-UAV coordinated path control with time constraint is solved by using multi-level distributed coordination strategies based on coordination variable and coordination function. Simulation results verify the effectiveness of the algorithm.
出处
《电光与控制》
北大核心
2015年第9期42-45,54,共5页
Electronics Optics & Control
基金
国家自然科学基金(61305136)
航空科学基金与中国飞行试验研究院联合资助(20131384004)
关键词
多无人机
协同航迹
时间约束
多级分布
协同变量
协同函数
multi-UAV
cooperative planning
time constraint
multi-level distribution
coordination variable
coordination function
