摘要
针对非合作条件下的无人机自主防相撞控制问题,在分析无人机与入侵飞机在三维空间几何关系的基础上,提出并证明了相撞冲突判决准则,定义最小间隔和剩余冲突消解时间衡量无人机与多入侵飞行器间的冲突紧急程度,建立了无人机自主防撞最优控制模型。基于非线性模型预测控制方法建立三维空间无人机自主防撞控制算法,运用剪枝搜索方法提高算法求解时效性。仿真实验表明,所提算法实现多无人机高动态环境下的防撞控制,能够有效降低无人机飞行安全威胁。
Aimed at solving the unmanned aerial vehicle (UAV) autonomous collision avoidance problem in the noncooperation environment,a 3D UAV collision avoidance control algorithm is designed.Based on analyzing the spatial relationship of UAV and intruders,a collision measure rule is proved, and the minimum interval and residual conflict resolution time are defined to measure conflict emergency between UAV and intruders.According to the collision measure rule,a UAV collision avoidance decision model is established based on the nonlinear model predictive control (NMPC) algorithm.In order to solve the collision avoidance model effectively,a cut-off search method is designed.The simulations show that,the proposed algorithm can implement UAV collision avoidance in noncooperation environment,has fast performance and less computation,and can reduce the UAV collision danger effectively.
作者
宋敏
戴静
孔韬
SONG Min;DAI Jing;KONG Tao(School of Air Traffic Control and Navigation,Air Force Engineering University,Xi’an 710038,China;School of Information and Navigation,Air Force Engineering University,Xi’an 710038,China;Air Force Equipment Department Millitary Representative Room in Jinan,Jinan 250101,China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2019年第9期2092-2099,共8页
Systems Engineering and Electronics
基金
国家自然科学基金青年科学基金(61503409)资助课题
关键词
无人机
自主防撞
非线性模型预测控制
冲突消解
unmanned aerial vehicle (UAV)
autonomous collision avoidance
nonlinear model predictive control(NMPC)
collision resolve