一种基于状态一致性模型的固定翼无人机编队控制机制

State Coherence Model Based Formation Control Mechanism for Fixed-wing Drones

在固定翼无人机编队飞行的过程中,通常需要根据任务需求或环境的变化构建并保持一种队形,或者变换为另一种队形.目前,无人机编队构建、保持和变换采用了不同的定义与关键技术,产生了无人机编队控制技术的发展瓶颈.本文提出了一种基于状态一致性模型的编队控制机制来解决这一问题.首先,建立固定翼无人机编队的六元状态一致性模型,并基于该模型统一了编队构建、保持和变换的定义.其次,提出了一种基于六元状态一致性模型的集中式与分布式相结合的混合式编队控制机制,主节点集中式地确定无人机在编队中的位置的分配方案,从节点分布式地计算自身的Dubins路径并调整偏航角,然后自主调整节点的航速以实现编队的状态一致性.第三,基于OMNeT++设计了相应的仿真试验,试验结果表明六元状态一致性模型能够将无人机编队飞行的各个阶段有机关联起来,同时验证了混合式编队控制机制的可行性和有效性.

When multiple fixed-wing drones are flying in formation,they usually need to generate and maintain one formation or change from one formation to another according to mission requirements or environmental changes.At present,different definitions and key technologies are adopted in the generation,maintenance and transformation of drones′formation,resulting in the development bottleneck of drones′formation control technology.This paper proposes a state coherence model based formation control mechanism to address this problem.Firstly,a Six-Tuple State Coherence model is presented to define the generation,maintenance and transformation of drone formation.Secondly,a hybrid formation control algorithm based on Six-Tuple State Coherence model is proposed,which combines centralized and distributed control.The master node determines the location of drones in the formation centrally,and the slave nodes calculate its Dubins path and adjusts the yaw angle in a distributed way.Then the drones′speed will be adjusted independently to achieve the formation state consistency.Finally,simulation tests are designed based on OMNeT++,test results show that the Six-Tuple State Coherence model can correlate each phase of formation flight organically,and validate the feasibility and effectiveness of the hybrid formation control algorithm.