基于一致性理论的多无人机协同避障控制方法

A cooperative obstacle avoidance control method for UAVs based on consistency theory

针对多无人机(UAVs)编队协同避障过程中队形变形过大和速度振荡幅值偏大问题,提出一种基于一致性理论的多无人机协同避障控制方法。根据建立的UAV运动学模型并结合一致性理论,设计保持编队队形的一致性控制律,改善避障时队形变形过大问题;通过优化人工势场法模型,解决人工势场法融入一致性控制方法时形成的控制矛盾;改进人工势场法并将其融入到一致性控制方法中,改善避障时速度振荡幅值偏大问题。仿真实验结果表明,所提方法在避障时可以较好地稳定编队队形、减小速度振荡幅值、缩短收敛时间,在多方面优于对比算法。

In order to solve the problems of excessive formation deformation and large velocity oscillation amplitude in the process of multi-unmanned aerial vehicle(UAVs)formation cooperative obstacle avoidance,a multi-UAV cooperative obstacle avoidance control method based on consistency theory was proposed.Firstly,according to the established UAV kinematics model and combined with the consistency theory,the uniform control law to maintain the formation was designed to improve the problem of excessive formation deformation during obstacle avoidance.Then the control contradiction formed when the artificial potential field method was integrated into the consistent control method was solved by optimizing the artificial potential field method model.Finally,the artificial potential field method was improved and integrated into the consistent control method,so as to improve the problem of large velocity oscillation amplitude during obstacle avoidance.Simulation experiments show that the propose method could better stabilize the formation,reduce the velocity oscillation amplitude,and shorten the convergence time when avoiding obstacles.The method was better than the comparison algorithm in many aspects.