基于人工势场法的多机编队重构防撞控制

Formation Reconfiguration Collision Avoidance Control for Multiple UAVs Based on Artificial Potential Field Method

针对多机编队在队形变换过程中存在的机间碰撞问题展开研究。首先基于人工势场法提出一种有界斥力函数的设计方法;同时为避免同平面内队形变换导致的航迹交叉现象出现,设计了队形变换协调策略,有效解决了人工势场法容易陷入局部极值点的问题。其次,通过引入时变权重系数协调防撞控制量和一致性控制量,设计了机间防撞控制协议,在提升队形变换速度的同时确保无人机之间的距离始终大于安全距离。最后,通过数值仿真实例验证了所提编队防撞控制方法和队形变换协调策略的有效性,不仅显著提升了协同编队的安全性,还能够支撑未来大规模多无人机系统协同编队。

This paper conducts the collision problem between multiple aircraft formations during formation transformation.Firstly,a bounded repulsion function is proposed based on artificial potential field method.At the same time,a coordination strategy is designed in order to avoid the occurrence of track crossover caused by the formation transformation in the same plane.Secondly,a distributed formation control protocol is proposed using the relative states among neighboring UAVs,in which a variable weight coordination coefficient is introduced to balance the relationship between consensus control quantity and collision avoidance control quantity.Finally,a numerical example is provided to demonstrate the effectiveness of the proposed formation collision avoidance control method and formation transformation coordination strategy,which significantly improves the security of cooperative formation and can support the future large-scale multi UAV system cooperative formation.