摘要
针对无人机运动学模型特点和远距离成形问题,提出一种基于改进一致性算法的无人机集结-成形策略。建立能直观描述编队队形的坐标系,根据纵向和横航向解耦的带自动驾驶仪的无人机三自由度运动学模型的特点,考虑无人机机动性能约束,对一致性算法进行改进,实现对无人机速度、航向和飞行高度的控制,提出编队队形控制算法。针对无人机初始间距大带来的调参问题,增加集结过程,并利用粒子群算法优化集结速度,避免航迹冲突,集结结束后再采用所提算法生成无人机航迹,提升算法的适应性。仿真结果表明:所提算法能使无人机在满足机动性约束的情况下,形成稳定队形;相比于直接成形法,所提策略提高改进一致性算法的适应性和安全性。
According to the characteristics of unmanned aerial vehicle kinematics model and the problem of remote forming,an improved consensus-based algorithm was proposed to solve the gathering-forming strategy of unmanned aerial vehicle.The coordinate system which can describe the formation directly was established.According to the characteristics of the three degree-of-freedom kinematics model of unmanned aerial vehicle with autopilot decoupled from longitudinal and transverse directions and the constraints of unmanned aerial vehicle maneuvering performance,the consensus algorithm was improved to realize the control of unmanned aerial vehicle speed,heading and flight altitude.The formation control algorithm was proposed.In addressing the parameter tuning problem caused by the large initial spacing of unmanned aerial vehicle,a gathering process was added.The particle swarm optimization algorithm was used to optimize the gathering speed to avoid trajectory conflicts,and the proposed algorithm was used to generate trajectory of each unmanned aerial vehicle after the gathering,both of which improved the adaptability of the algorithm.The simulation results show that the proposed algorithm can make unmanned aerial vehicles form a stable formation under the condition of satisfying the maneuverability constraints.Compared with the direct forming method,the proposed strategy improves the adaptability and security of the improved consistency algorithm.
作者
苟进展
梁天骄
陶呈纲
马波
王海峰
吴宇
GOU Jinzhan;LIANG Tianjiao;TAO Chenggang;MA Bo;WANG Haifeng;WU Yu(College of Aerospace Engineering,Chongqing University,Chongqing 400044,China;Aviation Key Laboratory of Science and Technology on Fighter Integrated Simulation,Chengdu 610091,China)
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2024年第5期1646-1654,共9页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金(52102453)
航空科学基金(20180511001)。
关键词
无人机
编队飞行
集结
一致性理论
粒子群优化
unmanned aerial vehicle
formation flight
drone aggregation
consensus theory
particle swarm optimization