人工势场与虚拟结构相结合的无人机集群编队控制

Formation control of UAV swarm combining artificial potential field and virtual structure

采用人工势场法进行无人机集群编队控制时,无人机集群通常难以准确地到达期望位置,且容易陷入局部极点问题。针对上述问题,提出一种人工势场与虚拟结构相结合的无人机集群编队控制方法。在三维空间中设立虚拟结构质点,并将其分为编队参考点和目标参考点两部分,通过建立集群个体间以及个体与编队参考点之间的人工势场,使得无人机集群在该势场作用下以编队参考点为参考形成预设编队,再通过建立目标参考点和编队参考点之间的人工势场,使得无人机集群在该势场作用下跟随编队参考点轨迹到达期望位置。仿真结果表明,在随机的初始位置条件下,无人机集群可以跟随编队参考点快速形成预设编队,并准确地到达期望位置。

Generally speaking, it is difficult to use the method based on artificial potential field to control the UAV swarm reach its desired position accurately, and exist the risk of falling into local pole problem. To solve the above problems, a formation control method of UAV swarm combining artificial potential field and virtual structure is proposed. Establish some virtual structure particles in three-dimensional space, and divide them into two parts: formation reference point and target reference point. Then establish the artificial potential field between the individuals, as well as the individuals and formation reference points, to control the UAV swarm form a preset formation reference to the formation reference point under the effect of established potential field. Besides establish the artificial potential field between the target reference point and the formation reference point, to control UAV swarm follow the formation reference point to the target position under the effect of established potential field. The simulation results show that the UAV swarm can quickly follow the formation reference point to form a preset formation and reach the desired position accurately, as their initial position is randomly distributed.