存在视觉盲区的小型无人机群自主控制

Self-control of Small Unmanned Aerial Vehicles with Visual Blind Spots

小型无人机自身负载小,所能携带的通信设备比较有限,可以安装鱼眼镜头作为相互之间的视觉通信设备以扩大无人机的可视范围,但鱼眼镜头仍然存在视觉盲区。为了解决这一问题,论文提出了存在视觉盲区的小型无人机群自主控制算法。论文的主要思想是,首先,对无人机的飞行时的运动状态进行分析,进而建立其飞行时的运动学方程;其次,针对无人机飞行时所存在的视觉盲区,设计了代价函数对其进行刻画;然后利用一致性的方法,解决了无人机群飞行时的速度一致性问题。最后通过仿真验证了该算法能够使无人机逃离彼此的视觉盲区并且按照相同的速度飞行。

The small unmanned aerial vehicle(UAV)has a small load and can carry limited communication equipment.Fisheye lenses can be installed as mutual visual communication equipment to expand the visual range of UAV,but fisheye lenses still exist visual blind areas.In order to solve this problem,this paper proposes a self-control algorithm for small unmanned aerial vehicles with visual blind spots.The idea of this paper is,firstly,to analyze the motion state of the UAV during flight,and then es⁃tablish its kinematics equation according to its rule of flight.Secondly,the cost function is designed to characterize the visual blind zone of UAV.When a UAV is in the blind zone of others,the cost function corresponding to it is greater than zero.When the UAV is outside the blind zone of others,this cost function is zero.Next,a consensus term is adopted to guarantee the same stable speed of UAVs.Finally,the simulation results show that the algorithm can make UAVs escape from each other's visual blind area and fly at the same speed.