摘要
针对已有方法在无人机编队队形控制方面的不足,结合无人机系统有限范围感知的特点提出一种基于规则的队形控制方法。首先,利用目标位置选择算法为编队成员选择刚体中的期望位置点,使分布式条件下的复杂无人机编队队形控制问题转化为个体对自身期望位置点的追踪问题;其次,通过控制协议的设计引导编队成员对自身的期望位置点进行追踪和避免碰撞;最后,在netlogo平台上实现了队形的控制;进一步,将目标位置选择算法与基于全局信息的"禁忌搜索"优化算法的效果进行了对比。实验表明:本文的控制方法简单,生成的航迹图简洁、平滑,其效果与基于全局信息的优化效果接近,且可生成任意队形和对突发威胁能主动有效的规避。
For the deficiency of the existing methods in formation control of unmanned aerial vehicles (UAVs), this paper proposes a distributed formation shape control method based on rules, according to the characteristics of the limited range perception of UAVs. Firstly, the target position selection algorithm is used to select the desired location point in the rigid body for each formation member, such that it makes the complex UAV formation shape control problem under distributed conditions simply converted to the tracking problem of each formation member to the target formation position of itself. Secondly, the design of control protocol guides the UAV members to track the target formation position of itself and avoids collisions. Finally, the formation control is realized on netlogo platform. Furthermore, the effects of ‘target position selection algorithm’ and ‘tabu search optimization algorithm’ based on global information are compared. Experiments show that the control method is simple and the generated flight path diagram is concise and smooth, the results are similar to the optimization results based on global information, and the method can generate arbitrary formation shape and avoid obstacles actively and effectively.
作者
毛琼
李小民
王正军
MAO Qiong;LI Xiaomin;WANG Zhengjun(Department of UAV Engineering of Shijiazhuang Campus, Army Engineering University, Shijiazhuang 050003, China;School of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang Tiedao University, Shijiazhuang 050003, China;Unit 32181 of the PLA, Shijiazhuang 050003, China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2019年第5期1118-1126,共9页
Systems Engineering and Electronics
基金
国家自然科学基金(61403406)资助课题
关键词
无人机编队
队形控制
目标选择
分布式系统
unmanned aerial vehicles (UAVs) formation
formation control
target selection
distributed system