无人机自主编队的人工力场控制方法

Artificial Potential Fields Control Method of UAV Autonomous Formation

针对无人机在动态变化的编队飞行环境中面临的编队队形保持与编队内碰撞风险的问题,提出了一种基于人工力场的无人机自主编队控制方法,无人僚机以本机期望航迹点为虚拟引力产生点,编队内成员飞机位置点为虚拟斥力产生点,在此虚拟力场的作用下,引导本机调整飞行速度和方向。仿真结果表明,该方法具有较强的鲁棒性和自适应能力,在保持稳定的编队队形的同时确保与编队内其他成员飞机保持安全飞行间隔。

To solve the problem of formation keeping and collision between inner members simultaneously when UAVs formation flew in dynamic environment,an artificial potential field formation control method was proposed. The artificial attractive force would be produced by the predicted position of UAV wingman,while the artificial repulsion force would be produced by other member ＇s position. The simulation experiment results illustrated that the artificial potential field could keep stable formation and ensure safety distance with other members simultaneously,which verity the robustness and adaptability of the proposed method.