一种基于一致性的四旋翼无人机编队避障方法
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摘要
针对一致性方法无法实现四旋翼无人机编队避障的问题,在航迹规划空间中引入势场来避免编队无人机间和编队无人机与障碍物间发生碰撞。以一致性方法为基础引导四旋翼无人机形成期望队形,为提高算法的收敛速度并且避免四旋翼无人机之间发生碰撞,增加了目标点的引力场和无人机间的斥力场;为有效避开外部环境中的障碍物,增加了障碍物的斥力场,并且构建了四旋翼无人机编队避障控制协议。仿真结果表明,新构建的控制协议能够引导编队无人机有效避开障碍物,并且能够恢复预期编队队形。
For the problem that the obstacle avoidance of quadrotor UAV formation can not be achieved with the consistent method, the potential field is introduced in the track planning space to avoid collision between the formation quadrotors or the formation quadrotor and obstacles in the environment. Based on the consistent method, the quadrotor is guided to form the desired formation. In order to improve the convergence speed of the algorithm and avoid collision between the quadrotors, the gravitational field of the target point and the repulsive field between the quadrotors are added. In order to effectively avoid obstacles in the external environment, the repulsive field of obstacles is increased, and the obstacle avoidance control protocol of the quadrotor formation is constructed. The simulation results show that the newly constructed control protocol can guide the formation UAV to effectively avoid obstacles and restore the expected formation.
For the problem that the obstacle avoidance of quadrotor UAV formation can not be achieved with the consistent method, the potential field is introduced in the track planning space to avoid collision between the formation quadrotors or the formation quadrotor and obstacles in the environment. Based on the consistent method, the quadrotor is guided to form the desired formation. In order to improve the convergence speed of the algorithm and avoid collision between the quadrotors, the gravitational field of the target point and the repulsive field between the quadrotors are added. In order to effectively avoid obstacles in the external environment, the repulsive field of obstacles is increased, and the obstacle avoidance control protocol of the quadrotor formation is constructed. The simulation results show that the newly constructed control protocol can guide the formation UAV to effectively avoid obstacles and restore the expected formation.
引文
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[2] 樊琼剑,杨忠,方挺,等.多无人机协同编队飞行控制的研究现状[J].航空学报,2009,30(4):683-691.
[3] 张佳龙,闫建国,张普,等.基于一致性算法的无人机协同编队避障研究[J].西安交通大学学报,2018,52(9):1-7.
[4] Tian Bailing,Zuo Zongyu,Wang Hong.Leader-follower fixed-time consensus of multiagent systems with high-order integrator dynamics[J].International Journal of Control,2017,90(7):1420-1427.
[5] 潘无为,姜大鹏,庞永杰,等.人工势场和虚拟结构相结合的多水下机器人编队控制[J].兵工学报,2017,38(2):326-334.
[6] 冯成涛,王惠南,刘海颖.基于虚拟结构的卫星编队机动控制[J].系统工程与电子技术,2011,33(1):143-145.
[7] Lee G,Chwa D.Decentralized behavior-based formation control of multiple robots considering obstacle avoidance[J].Intelligent Service Robotics,2018,11(1):127-138.
[8] 周绍磊,祁亚辉,张文广,等.考虑内部避碰的无人机编队控制研究[J].战术导弹技术,2016(6):94-98.
[9] 薛瑞彬.多无人机分布式协同编队飞行控制技术研究[D].北京:北京理工大学,2016.
[10] 李磊,李小民,郑忠贵,等.基于一致性理论的四旋翼无人机分布式编队控制方法[J].电光与控制,2015,22(10):19-23.
[11] 任伟,兰德尔·W·比尔德.多航行体协同控制中的分布式一致性——理论与应用[M].吴晓锋,译.北京:电子工业出版社,2014:106-121.
[12] Khatib O.Real-time obstacle avoidance for manipulators and mobile robots[M].New York:Springer,1986:396-404.