无人机规避或跟踪空中目标的自适应运动导引方法

Adaptive motion guidance method of avoiding or tracking aerial targets for unmanned aerial vehicles

无人机规避或跟踪空中目标可以看作是一个非线性运动导引控制问题。针对这类任务中无人机和目标存在高机动性、高时敏性等特点,提出了一种基于Lyapunov稳定性理论的无人机规避或跟踪目标运动导引方法。构建了基于精细时间运动导引方法的无人机规避或跟踪空中目标问题求解框架,并将无人机碰撞规避和机动目标跟踪问题分别转化为到达虚拟目标点和与虚拟目标点交会的问题。针对碰撞规避问题,将其转化为实现平行导引的控制问题,基于Lyapunov稳定性理论设计了无人机碰撞规避导引律。针对机动目标跟踪问题,在碰撞规避基础上,根据目标点交会的要求设计了相应的目标跟踪导引律。在Gazebo平台上开展了仿真验证实验,实验结果表明:所提方法能够有效避免大过载情况的出现,并具有较强的时变和参数适应性。

Avoiding or tracking aerial targets for UAVs（ unmanned aerial vehicles） can be regarded as a nonlinear motion guidance and control problem. In such kind of tasks,both of UAVs and targets have high maneuverability and time sensitivity. According to these characteristics,a motion guidance method in fine time based on Lyapunov stability theory was proposed. A framework for solving the two problems was constructed,then collision avoidance and maneuvering target tracking problem were transformed into reaching virtual target and rendezvous problem respectively.The problem of collision avoidance of UAVs was converted into the control problem of realizing parallel navigation,and then the guidance law was designed using the Lyapunov stability theory. For the problem of tracking maneuvering target,the guidance law was designed according the requirement of rendezvous based on former guidance law. The simulated experiments in a Gazebo platform were conducted,and results showed that the proposed method can effectively avoid larger maneuver overload for UAVs, thus having better adaptability for time-varying and parameters.