一种可用于飞行器群系统编队及简捷重构的算法

The Novel Algorithm for Formation and Simple Reconfiguration of Swarming Flight Vehicles System

针对集中式编队法弊端及重构简捷化考虑,基于跨临界分岔变种形式提出了一种分布式群系统编队法,可使群系统在有限感知信息条件下自组织无碰撞地实现期望编队。该法通信压力低、计算资源省、鲁棒性高、扩展性好、柔性强,核心优势在于重构时仅需调节少量分岔参数便可简捷地调整切换构型。该法基于人工势场技术主要分三部分:基于跨临界分岔变种形式构造全局有序汇聚势场,基于Morse势构造成员间避碰势场及速度依赖型耗散机制。通过可行性验证及特性仿真,验证了方法的有效性和优越性。分析表明,将该法对应不同平台特征进行相应改造,可较方便地用来实施诸如小卫星群等飞行器群系统的编队任务。

Regarding shortcomings of the centralized formation methods and the needs of uration, a distributed formation method of swarm system is proposed, which is based on a variant of transcrit- ical bifurcation. By using this method and making use of limited sensorial information, a swarm system can achieve the desired formation configurations in a self-organized manner while the collision does not occur. This method has the characteristics of low communication pressure, computation resources saving, high robust- ness, good scalability and more flexibility, and its core advantage is that it can adjust and switch configura- tions simply by changing only a few bifurcation parameters in reconfiguration. The artificial potential field technique is utilized in this method, which can be divided into three parts ： a ordered convergence artificial potential field based on a variant of transcritical bifurcation, a local collision avoidance potential field among agents based on the Morse potential function and the speed-dependent dissipation mechanism. The feasibility and superiority of the new methodology is verified by the simulation results under ideal conditions. The analysis of the paper shows that this new method can be easily used to perform actual formation missions by making some simple modifications for real swarm systems, such as micro satellites swarm, etc.