基于改进人工势场方法的多无人机编队避障算法

A formation and collision avoidance algorithm based on improved artificial potential field method for multi-UAV

针对无人机(UAV)机群在编队飞行过程中可能受机群其他无人机或鸟类等障碍物的影响,基于传统人工势场(APF)的编队避障算法易陷入局部优化解,进而导致无人机机群避障失败的问题,提出了一种基于改进三维人工势场(3D-APF)的编队避障算法。通过在势场函数中引入一致性理论的通信拓扑和权重等概念,实现无人机机群在分布式结构下的快速编队。然后将z轴势场引入二维势场,并引入与障碍物移动方向垂直的辅助势场以消除算法陷入局部最优化解的缺陷。最后,通过M atlab仿真实验验证了本文算法的有效性。

The unmanned aerial vehicle(UAV)fleet may be disturbed by other UAVs or obstacles such as birds during formation flying,and the obstacle avoidance algorithm based on the traditional artificial potential field(APF)method is easily trapped in local optimal solution,which will lead to the failure of the UAV fleet to avoid obstacle.In order to overcome the disadvantages mentioned above,an obstacle avoidance method for the UAV fleet based on improved three-dimensional artificial potential field(3 D-APF)is proposed in this paper.The concept of communication topology and weight of consensus theory is introduced into the potential field function to realize the rapid formation of UAV fleet in the distributed structure.Then the z-axis potential field is introduced into the two-dimensional potential field and the auxiliary potential field perpendicular to the moving direction of the obstacle is introduced to eliminate the defect of the algorithm falling into the local optimization solution.Finally,the effectiveness of the proposed method is verified by Matlab simulation experiment.