摘要
建立了多无人机协同规避控制模型,并提出了一种基于纳什最优的分布式模型预测控制算法。仿真结果表明,基于纳什最优的分布式模型预测控制算法有效地实现了多架无人机对障碍物的规避,并且相对于集中式模型预测控制算法减少了求解过程中的计算量,缩短了优化控制的时间,改善了系统的实时性。
Multi-UAV cooperative avoid control model is built,and a predictive control algorithm based on Nash optimality distributed model is proposed. The simulation results show that the proposed algorithm method can make the UAV avoid obstacle effectively. In addition,the calculation of proposed algorithm is reduced enormously,consequently the running time of optimal control is shortened,and the real-time of multi-UAV cooperative avoid control system is enhanced.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2017年第S1期96-102,共7页
Journal of Nanjing University of Aeronautics & Astronautics
关键词
协同规避
纳什最优
模型预测控制
实时性
cooperative avoid
Nash optimality
model predictive control
real-time