摘要
提出了基于信息一致性的无人机编队形成时避免碰撞的控制策略。以四旋翼无人机为研究对象,将图论法与领航跟随法相结合,在所有跟随者能够获得领航者状态信息的通信拓扑结构下,将四旋翼无人机的动力学模型描述为二阶积分器动力系统,利用二阶一致性算法获得编队形成的轨迹,并借助四旋翼无人机可悬停的特点,通过调整无人机集结点高度,避免编队形成时四旋翼无人机之间发生碰撞。最后通过数值仿真测试验证了算法的有效性。
Rendezvous control of multiple UAVs（unmanned aerial vehicles）with collision avoidance is proposed based on consensus.In this paper,quadrotor is the research object.Combing graph theory with lead-following theory,status information of the leader is available to all followers.The dynamic model of quadrotor is described as Second order integrator power system.Firstly,The trajectory of rendezvous of multiple UAVs formation is calculated by Second order consensus algorithm. Then,collision avoidance between quadrotors is realized by adjusting the height of rendezvous.Finally,reasonableness and efficiency of the suggested strategy are verified by MATLAB experiment.
作者
秦文静
林勇
戚国庆
QIN Wen-jing;LIN Yong;QI Guo-qing(Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《电子设计工程》
2018年第9期83-85,90,共4页
Electronic Design Engineering
基金
中国国家自然科学基金(61104186
61273076)
关键词
图论
一致性
集结
防碰撞
graph theory；consensus；rendezvous；collision avoidance
