基于一致性算法的无人机协同编队避障研究

Collision Avoidance of Unmanned Aerial Vehicle Formation Based on Consensus Control Algorithm

基于人工势场方法,提出了一种双向网络连接结构的多无人机一致性避障控制算法。该算法能够有效避免无人机之间以及无人机与障碍物之间发生碰撞,实现协同编队飞行,完成任务。将所提出的一致性算法与"长机-僚机"控制策略结合起来应用到编队控制中,能够避免无人机之间以及无人机与障碍物之间发生碰撞,确保无人机编队收敛。文中以3架无人机构成正三角形编队作为控制对象,以长机飞行轨迹作为期望路径,僚机跟踪长机保持正三角形编队飞行,且无人机之间以及无人机与靠近障碍物内侧的僚机与障碍物保持安全距离,长机和僚机在水平面具有相同的前进速度和航向角速率,在垂直方向保持相对距离不变。通过仿真实验验证了所提出的控制算法的有效性,对工程应用具有一定的借鉴意义。

A collision avoidance control algorithm for multiple unmanned aerial vehicles(UAVs)based on bidirectional network connection structure is proposed,which can effectively avoid collision among UAVs and between UAVs and obstacles to realize collaborative formation flight and complete the mission.In order to avoid collisions,the proposed consensus algorithm and the“leader-follower”control strategy are combined into formation control to ensure the convergence of formation.Three UAVs constitute the triangular formation as the control object,where the leader flight path is taken as the expected path and the followers track the leader to maintain the triangle formation flight.Safe distances should be kept between the UAVs and between the obstacle and the follower which is closest to the obstacle.In the horizontal plane,the leader and followers should have the same forward speed and heading angle rate,while in the vertical direction,they keep the relative distance constant.This consensus collision avoidance algorithm for multiple UAVs is based on the artificial potential field method,and simulation experiment verifies its validity.