无线紫外光通信下基于改进人工势场法的无人机编队控制研究

Research on UAV Formation Control Based on Improved Artificial Potential Field Method

无人机(Unmanned Aerial Vehicle,UAV)因其保密性好、易于操作、安全系数高等优点,近些年来被广泛研究并应用在军事和民事等多个领域中。虽然目前关于无人机的研究已经取得了许多成果,但无人机在复杂环境下机间通信的稳定、局部极小值问题和目标不可达问题仍然存在,本文提出了一种将无线紫外光通信与人工势场法相结合的改进方法,利用无线紫外光通信稳定、干扰小特点,保证机间通信稳定的同时进行机间测距,预防动态运行时机间碰撞的发生;对人工势场加以改进解决飞行过程可能出现的局部极小值和路径振荡问题,保证飞行任务的顺利进行。通过实验验证,结果表明本文提出的方法能为无人机在复杂环境下保持机间通信稳定的同时顺利达到目标点提供保障,解决了无人机通信不稳定、飞行局部极小值和目标不可达问题。

Unmanned Aerial Vehicle(UAV)has been widely studied and applied in many fields such as military and civilian in recent years due to its advantages of good confidentiality,easy operation and high safety factor.Although many achievements have been made in the research on UAVs,the problems of stability,local minima and target unreachability of inter-aircraft communication in complex environments still exist.The artificial potential field is improved to solve the problems of local minima and path oscillations that may occur in the flight process to ensure the smooth operation of the mission.Then,through experimental verification,the results show that the method proposed in this paper can guarantee the UAV to reach the target point smoothly while maintaining the inter-aircraft communication stability in a complex environment,and solve the problems of unstable UAV communication,local minima and unreachable target.