无人机编队控制技术研究

Research on formation control technology of UAVs

随着无人机的应用日益发展以及任务环境的愈加复杂,单一无人机已无法满足当前的应用需求,需采用无人机集群来更好完成复杂环境下协同侦察、作战、防御等任务。无人机编队飞行控制主要包括无人机编队形成控制和无人机编队重构与避碰两大关键技术。本文从无人机集群的基本概念入手,介绍了国内外无人机集群项目的发展现状,重点分析了现阶段相对成熟的无人机集群编队控制理论与方法以及编队的重构与避碰技术,提炼出不同方法的适用性与优缺点,根据现有资料总结分析了当前无人机编队控制的研究思路和进一步有待深入研究的关键问题。

With the increasing development of UAV applications and the current mission environment becoming more and more complex, single UAV can not meet the current application needs. It is necessary to use UAVs cluster to better complete the tasks of cooperative reconnaissance, combat, defense and so on. UAVs formation flight control mainly includes two important technologies: formation control and reconfiguration of UAVs formation with collision avoidance. This paper starts from the basic concept of UAVs cluster, introduces the development status of UAVs formation projects at home and abroad. Then we focuse on the analysis of the relatively mature theory and method of UAVs formation control and the reconfiguration with collision avoidance technology of UAVs formation at this stage. We also refine advantages and disadvantages of different methods. Based on the existing data, we summarize the current research ideas of UAVs formation control and the essential problem to be further studied at last.