三架固定翼无人机协同编队飞行避障策略

Collision avoidance strategy of three fixed-wing unmanned aerial vehicles cooperative formation flight

针对无人机编队执行空战任务过程中存在无人机之间以及无人机与障碍物发生碰撞的问题,提出单向网络连接结构的多无人机避障算法和基于人工势场的控制方法,同时应用于无人机编队避障控制。以三架无人机构成的正三角形编队作为控制体,同时以长机的运动轨迹作为期望路径,长机提供僚机飞行信息,僚机接受信息保持编队飞行。多无人机编队发现障碍物到避障完成的过程包括编队集结、松散队形、最终恢复集结正三角形编队。仿真实验结果表明,所提避障控制策略能够确保编队收敛于期望的队形和稳定飞行状态。

Aiming at the process of executing combat mission,the collision may occur between the UAVs(unmanned aerial vehicles),or between the UAV and the enemy plane.A collision avoidance control algorithm and a control strategy based on the artificial potential field were simultaneously applied for a Multi-UAV collision avoidance control.The three UAVs constituted the triangular formation as the control object,the leader flight path as the expected path,the followers tracked the leader to maintain the triangle formation flight.From the UAV formation encountering the obstacle to the UAV formation system accomplishing the avoidance,the UVA formation experienced three stages,including the merging formation,the splitting formation and the closing rank to the triangle formation,which is the convergence to the steady flight state.The simulation results show that the proposed collision control avoidance strategy can converge to the desired formation and the stability-flight state.