无人机密集编队穿越竞速导引算法

A Crossing and Contesting Guidance Algorithm for UAV Intensive Formation

针对无人机密集编队穿越门框竞速问题,提出了一种时间近似最优的导引算法。首先,对穿越竞速问题进行了阐述;其次,在单架无人机穿越门框导引模型推导的基础上,研究了其穿越门框的导引算法,该算法具有在期望时间内将无人机导引到目标点的能力;最后,针对多架无人机编队穿越竞速问题,提出了基于飞行时间控制和脱靶量控制的穿越算法,该算法具有良好的时间近似最优性能;仿真结果表明,所设计的导引算法能够使无人机编队在期望时间内完成穿越竞速,且具有极低的脱靶量和导引时间误差;可为无人机集群避障与防撞控制提供技术支撑。

A nearly optimal time guidance algorithm is proposed for UAV intensive formation crossing and contesting the doorframe.Firstly,the crossing and contesting problem is described.Secondly,the guidance algorithm for single UAV crossing the doorframe is studied based on the mathematic model,which is characterized by the ability to guide the UAV onto the target point in the desired time.Finally,a crossing guidance algorithm based on flying time control and miss-distance control is proposed for the crossing and contesting problem of the UAV intensive formation.The simulation results show that the proposed algorithm makes the UAV formation complete successfully the tasks,such as the cross and contest,the minimum miss-distance,and the guidance time errors in the desired time,and affords the UAV formation obstacle avoidance control and collision avoidance control useful technologies.