无人机集群自组织避障建模与控制策略研究
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摘要
针对无人机集群自组织避障问题,在集群系统认知模型的基础上,采用自下而上的建模方法,对单个个体建立变系数控制器,包括一致性运动模块和避障模块。借鉴地球偏转力原理增加了回转力作用,以克服人工势场法存在的振荡和极小值问题。在此基础上,针对所有个体和部分个体能感知障碍物的情况,分别提出自组织避障的控制策略,实现了集群自组织避障。仿真结果表明,所建立的模型和控制方法是有效的。
Aiming at the self-organization obstacle avoidance problem for UAV swarm,a bottom-up modeling method is adopted on the basis of swarm system cognitive model. A variable coefficient controller,including the conformal motion module and the obstacle avoidance module,is established for individuals,the principle of earth deflection is used to increase the rotational force effect to overcome the oscillation and the minimum value with the artificial potential field method. Based on this,all individuals can perceive the obstacles or only some individuals can,we proposed the control strategy of self-organization obstacle avoidance respectively,and the self-organization obstacle avoidance is realized. The simulation results show that the established model and control method are effective.
Aiming at the self-organization obstacle avoidance problem for UAV swarm,a bottom-up modeling method is adopted on the basis of swarm system cognitive model. A variable coefficient controller,including the conformal motion module and the obstacle avoidance module,is established for individuals,the principle of earth deflection is used to increase the rotational force effect to overcome the oscillation and the minimum value with the artificial potential field method. Based on this,all individuals can perceive the obstacles or only some individuals can,we proposed the control strategy of self-organization obstacle avoidance respectively,and the self-organization obstacle avoidance is realized. The simulation results show that the established model and control method are effective.
引文
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[4]Kang S,Choi H,Kim Y.Formation flight and collision avoidance for multiple UAVs using concept of elastic weighting factor[J].International Journal of Aeronautical and Space Sciences,2013,14(1):75-84.
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[7]陈世明,丁贤达,化俞新.大规模机器人群体的分层编队控制算法[J].华中科技大学学报(自然科学版),2014,42(10):52-57.
[8]Ren W,Sorensen N.Distributed coordination architecture for multi-robot formation control[J].Robotics and Autonomous Systems,2008,56(4):324-333.
[9]吴俊成,周锐,董卓宁,等.基于诱导航线的多无人机编队飞行控制方法[J].北京航空航天大学学报,2016,42(7):1518-1525.
[10]Chou Z,Zhou S L,Ming L,et al.UAV formation flight based on nonlinear model predictive control[J].Mathematical Problems in Engineering,2012,2012(1024-123X):181-188.
[11]王新鹏.认知模型的研究和应用[D].兰州:兰州理工大学,2007.
[12]Reynolds C W.Flocks,herds,and schools:A distributed behavioral model[J].ACM SIGGRAPH Computer Graphics,1987,21(4):25-34.
[13]孙强,梁晓龙,尹忠海,等.UAV集群自组织飞行建模与控制策略研究[J].系统工程与电子技术,2016,38(7):1649-1653.