多无人机编队协同保持的速度矢量场算法

A Velocity Vector Field Algorithm for Multi-UAV Cooperative Formation Keeping

主要对基于速度矢量场的无人机编队协同保持问题进行研究。首先以Leader-follower编队为研究对象,建立了无人机数学模型。在此基础上,借鉴人工势场法,引入相对速度矢量,给出无人机间的引力函数和斥力函数,完成了速度矢量场建模。在速度矢量场作用下,无人机编队能够实现队形保持,并保证无人机之间不会相互碰撞。最后搭建仿真验证平台,验证了该算法的可行性和有效性。

This paper focuses on the study of UAV formation keeping based on velocity vector field. Firstly, the Leader-follower formation is taken as the research object, and the mathematical model of the UAV is built. Secondly, by referring to the artificial potential field method, the relative velocity vector is introduced,the attractive force function and the repulsive force function between the UAVs are given, and the modeling of the velocity vector field is completed. Under the influence of the velocity vector field, the UAVs can keep the formation and do not collide with each other. Finally, a simulation verification platform is built to verify the feasibility and effectiveness of the algorithm.