三维动态环境下多无人机编队分布式保持控制

Distributed formation keeping control of UAVs in 3-D dynamic environment

针对无人机编队沿参考轨迹飞行时遭遇突发障碍物而发生碰撞的问题,提出一种可实时避障及机间避碰的分布式编队保持算法.基于虚拟结构编队策略,采用非线性模型预测控制(NMPC)方法设计分布式编队控制器.为了实现通讯延迟下的机间避碰,采用基于不同优先级的改进避碰惩罚策略.仿真结果表明,所设计的分布式编队控制器能保证编队及时避开环境中的突发障碍物,且无人机间不发生互碰,避障后的各编队继续以原队形沿参考轨迹飞行.

When UAVs formation flying in 3-D dynamic environment following the reference path, obstacles may popup and collisions may happen. To solve this problem, a distributed formation keeping method with obstacle/collision avoidance is proposed. The virtual structure approach and nonlinear model predictive control（NMPC） method are applied to design the distributed formation controller. To achieve collision avoidance between UAVs with consideration of communication delay,a spatial penalty function with the priority strategy is designed. According to the simulation results,the distributed NMPC formation controllers can make the UAVs steer clear of static/moving obstacles with no collisions between UAVs, and the formation keeps following the reference path after finishing obstacle avoidance.