摘要
针对人工势场法中产生的振荡与停滞问题,提出一种前馈控制的改进方法。通过对上一状态的分析,计算出当前状态的期望值,再结合当前路径规划算法的解算值,得到当前状态的最终控制量,使得无人机(UAV)的行进路线更为平滑,局部最优问题也得到解决。为解决机群间的碰撞问题,对斥力场函数分层处理,并实时将它机作为障碍点。在群飞系统设计中,主机运行该算法,实时计算出无人机群的路径点,发送给相应的从机,从而完成机群的避障飞行。结果表明:该方案能满足无人机群飞的安全性、实时性与稳定性要求。
Aiming at oscillation and stagnation problems generated by artificial potential field method,an improved method of feedforward control is proposed.Through analysis on the previous state,the expected value of the current state is calculated,and combined with the solution value of the current path planning algorithm,the final control amount of the current state is obtained,so that the traveling route of the drone is smoother,and the local optimal problem is also has been solved.In order to solve the collision problem between the clusters,the repulsion field function is layered and the machine is used as the obstacle point in real time.In the design of the group flight system,the host runs the algorithm,calculates the path points of the unmanned aerial vehicle(UAV)group in real time,and sends them to the corresponding slaves to complete the obstacle avoidance flight of the fleet.The results show that the scheme can meet the safety,real-time and stability requirements of the drone group.
作者
丁佳宇
王茂森
戴劲松
DING Jiayu;WANG Maosen;DAI Jinsong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《传感器与微系统》
CSCD
北大核心
2021年第5期114-117,120,共5页
Transducer and Microsystem Technologies
关键词
人工势场法
前馈控制
路径规划
串口
避障飞行
artificial potential field method
feedforward control
route plan
serial port
obstacle avoidance flight
