基于速度障碍法的无人机与有人机冲突解脱机动时机

Resolution Maneuver Time of UAV and Manned Aircraft Conflict Based on Velocity Obstacle Method

速度障碍法在飞行冲突探测与解脱中应用较广,但传统的速度障碍法没有给出开始解脱的时间,而在两机接近过程中不同时间解脱调整范围不同,过早过晚解脱都会影响解脱成本与效率,针对该问题,提出了一种基于速度障碍法的解脱机动时间确定方法。首先,利用速度障碍法判断无人机与有人机是否存在冲突,选择航向解脱策略,确定航向调整范围。其次,以无人机初次探测到周围存在冲突为解脱初始机动时机,以无人机顺、逆时针解脱的最小航向偏转角度均不超过允许的最大航向调整量时对应的时间为解脱最晚机动时机,根据初始机动时机和最晚机动时机建立方程,确定无人机可机动范围。最后,以航向调整范围和可机动范围为约束,构建以解脱偏转角度与解脱偏离距离为总目标的多目标解脱模型,采用枚举法求解得到帕累托最优解后可确定无人机解脱机动时机,并建立航迹恢复模型,使得飞机完成解脱后能恢复计划航迹。通过MATLAB仿真验证,结果证明了该方法在解决无人机何时开始解脱问题上的有效性与可行性。

Velocity obstacle method is more widely used in flight conflict detection and resolution,but it cannot give the time to start resolution,and the range of resolution is different at different time in the approaching process of two aircrafts,and the cost and efficiency of resolution will be affected by the resolution too early or too late.To solve this problem,a method of determining the maneuver time for resolution was proposed based on the velocity obstacle method.Firstly,the velocity obstacle method was used to judge whether there is conflict between unmanned aerial vehicle(UAV) and manned aircraft,adopting the heading resolution strategy,and the resolution range of heading resolution was determined.Secondly,taking the initial detection of conflicts in the surrounding area by the drone as the initial maneuver time for release,and the time corresponding to the minimum heading deviation angle for both clockwise and counterclockwise release of the drone not exceeding the maximum allowable heading adjustment amount as the latest maneuver time for release,an equation was established based on the initial and latest maneuver times to determine the maneuvering range of the drone.Finally,taking the heading adjustment range and the maneuverable range as constraints,a multi-objective resolution model was constructed with the heading resolution adjustment angle and deviation distance as the total objectives,and the Pareto optimal solution was obtained by the enumeration method to determine the heading resolution maneuver time of the UAV,and the trajectory recovery model was established,which enables the aircraft to recover the planned trajectory after completing the resolution.The feasibility and effectiveness of the proposed method in solving the problem of when the UAV starts resolution are verified by MATLAB simulation.