基于3D-APF和约束动力学的无人机编队飞行控制

Formation flight control of UAV based on 3D-APF and constraint dynamics

针对无人机编队的路径规划和队形保持问题,提出了一种基于三维人工势能场(three-dimensional artifical potential field,3D-APF)的无人机编队路径规划与队形保持方法。对于无人机的路径规划,建立了改进的三维人工势函数。在此基础上,建立并推导了虚拟力环境下的无人机运动学模型。对于无人机的队形保持问题,运用约束动力学理论引入拉格朗日乘子建立含有队形约束的编队无人机约束动力学方程组,使编队无人机在整个飞行过程中保持期望队形。采用Penalty-Formulation对拉格朗日乘子进行求解,得到编队无人机约束动力学方程组。最后基于Matlab的仿真实验验证了所提方法的有效性。

To deal with the issue of path planning and formation control for unmanned aerial vehicle(UAV)formation flight,an improved algorithm of path planning and formation control based on three-dimensional artifical potential field(3D-APF)is proposed.For path planning of UAV,an improved 3D-APF is constructed.On this basis,the dynamic model of UAV in the virtual force environment is derived and established.For how to maintain the formation,using constraint dynamic,the constraint dynamic equation set is established by introducing the Lagrange multipliers,which can maintain the desire formation during the whole process.Finally,using Penalty-Formulation to solve the Lagrange multipliers,the constraint dynamic equation for UAV formation flight is obtained.The simulation results based on the Matlab platform show the effectiveness of the algorithm.