基于控制障碍函数的飞行器避障与制导控制

Control Barrier Function-based Control for Aircraft Avoidance and Guidance with Dynamic Obstacles

为实现动态障碍物环境下飞行器对目标的打击以提高其工程适用性,建立飞行器与障碍物以及飞行器与目标的运动学模型。在控制障碍函数的基础上进行拓展,结合速度障碍法对飞行器速度施加约束,与现有的比例制导律构建二次优化问题,得到闭式解形式的避障制导律。数值仿真并分析轨迹和过载曲线的特性。研究结果表明:所提出的避障制导律可以实时地避开运动障碍物并打击目标,有较好的全局特性;与已有避障制导律相比,过载曲线更加平缓且饱和过载占比小。

To improve the engineering applicability of aircraft when pursuing a target in the presence of dynamic obstacles,the relative motion relationship between the aircraft and obstacles,as well as between the aircraft and the target are analyzed.Leveraging the control barrier function(CBF),the velocity obstacle approach is used to constrain the velocity of the aircraft,and a quadratic programming(QP)problem is constructed with the existing proportional guidance law.Then,a closed-form obstacle avoidance guidance law is proposed by solving the QP problem.Numerical simulation and analysis of the trajectory properties and overload show that the proposed obstacle avoidance and guidance law can avoid a moving obstacle in real time and pursue the target with favorable global properties.Compared to existing methods,the overload curve is smoother,and the saturation overload ratio is smaller.