一种分布式多无人机协同定距盘旋跟踪制导律

Distributed Guidance Law for Multi-UAV Cooperative Tracking

多无人机协同跟踪运动目标既可以全方位探测目标信息,又可以应对外界视线干扰,降低丢失目标的概率,因而具有重要研究意义。基于Unicycle模型提出了一种仅需目标和邻近无人机信息的分布式协同定距跟踪制导律,解决了传统Leader-Follower方法中编队过于依赖Leader的问题,提高了编队网络的鲁棒性。针对静止目标设计了基于相对距离与视线角的分布式多无人机协同制导律,并证明了系统稳定性;该制导律推广至对匀速及变速目标的跟踪制导;利用飞行控制器、模拟飞行软件X-Plane和仿真软件MATLAB/Simulink对上述静止、匀速和变速3种运动模式的目标分别进行协同跟踪半实物仿真,结果验证了所提制导律的有效性。

The multi-unmanned aerial vehicles (UAVs) cooperative tracking can not only get the information of targets in various directions, but also respond to the interference of obstacles and reduce the probability of losing the targets. A distributed guidance law is presented for multi-UAV cooperative tracking that relies only on information of target and neighboring UAVs. The distributed guidance law is used to avoid the dependence of UAV formation on the leaders in traditional leader-follower method and improve the robustness of formation. A distributed cooperative guidance law of multi-UAVs based on relative distance and bearing angle was designed for stationary targets, and the stability of the cooperative guidance law was proved. The guidance law is used for tracking the targets with constant and variable speeds. The hardware-in-the-loop simulation of multi-UAVs tracking the targets was made by using the X-Plane software, MATLAB/Simulink software and flight controller (hardware). The simulated results show the effectiveness of proposed guidance law.