基于Lyapunov法和势场法的对峙跟踪研究

Standoff Tracking Research Based on Lyapunov Method and Potential Field Method

现有的基于Lyapunov导航向量场算法的对峙跟踪研究中尚未有考虑避障要求的。针对单架无人机对峙跟踪单个移动目标,通过Lyapunov导航向量场法使无人机对目标对峙跟踪。在遇到障碍时,通过距离控制,切换为使用势场法避开障碍区域。在满足一定的距离条件后,通过角度控制,恢复对峙跟踪方式,从而使无人机在对峙跟踪时可以避开障碍区域。仿真结果表明,不管是在单障碍的条件下还是多障碍的条件下,该方法能使无人机有效地避开障碍区域完成跟踪任务。

Follow-up study based on existing standoff Lyapunov vector field navigation algorithm takes into account the requirements of obstacle avoidance little. For single UAV standoff single mobile target tracking,by Lyapunov navigation vector field method makes standoff UAV target tracking. When in the face of obstacles,by distance control,switch to using potential field method to avoid obstacles regional. After meet a certain distance condition,by angle control,recovery standoff tracking mode,so that the UAV can avoid obstacles regional while standoff tracking. The simulation results show that, whether it is under the conditions of a single obstacles or multiple obstacles,this method enables the UAV to effectively avoid obstacles area to complete the tracking task.