无人机集群自组织避障建模与控制策略研究

Research on self-organized obstacle avoidance modeling and control strategy for UAV swarm

针对无人机集群自组织避障问题,在集群系统认知模型的基础上,采用自下而上的建模方法,对单个个体建立变系数控制器,包括一致性运动模块和避障模块。借鉴地球偏转力原理增加了回转力作用,以克服人工势场法存在的振荡和极小值问题。在此基础上,针对所有个体和部分个体能感知障碍物的情况,分别提出自组织避障的控制策略,实现了集群自组织避障。仿真结果表明,所建立的模型和控制方法是有效的。

Aiming at the self-organization obstacle avoidance problem for UAV swarm,a bottom-up modeling method is adopted on the basis of swarm system cognitive model. A variable coefficient controller,including the conformal motion module and the obstacle avoidance module,is established for individuals,the principle of earth deflection is used to increase the rotational force effect to overcome the oscillation and the minimum value with the artificial potential field method. Based on this,all individuals can perceive the obstacles or only some individuals can,we proposed the control strategy of self-organization obstacle avoidance respectively,and the self-organization obstacle avoidance is realized. The simulation results show that the established model and control method are effective.