UAV集群自组织飞行建模与控制策略研究
|
摘要
针对多无人航空器协同控制难题,聚焦无人航空器集群(unmanned aircraft vehicles swarm,UAVS)自组织飞行建模与控制展开研究。基于集群智能理论建立了UAVS系统概念模型,在考虑个体排斥作用、一致作用、吸引作用和个体行动意愿作用4种因素的情况下建立了集群运动的变系数(repulsion-matching-attracting-desire,RMAD)控制器模型,以此为基础,研究了所有个体掌握航迹信息和部分个体掌握航迹信息两种情况下UAVS自组织飞行控制问题,提出UAVS自组织飞行控制策略,实现了UAVS可控性自组织飞行。仿真实验结果表明构造的UAVS运动的RMAD模型及控制方法是可行的,为UAVS的工程应用奠定理论和实验基础。
Aiming at the conundrum of multi-unmanned aircraft vehicle(UAV)cooperative control,the key problems of UAV swarm(UAVS)self-organized flight modeling and control are focused to study.Firstly,based on the swarm intelligence theory,the UAVS system concept model is louilt,in the condition of considering four factors of repulsion,matching,attracting and agent's desire action,the swarm control's alterable coefficient repulsion-matching-attracting-desire(RMAD)model is presented.Based on these models,the UAVS self-organized flight control problems are studied on the following two conditions.One is all of the agents in swarm learned the information of the flight path and the other one is that part agents learned the information.The UAVS self-organized flight control strategy is presented which achieves UAVS's controllable self-organized flight.Simulation results show that the RMAD model and the proposed methods are feasible,which lay an academic and experimental foundation for UAVS's engineering application.
Aiming at the conundrum of multi-unmanned aircraft vehicle(UAV)cooperative control,the key problems of UAV swarm(UAVS)self-organized flight modeling and control are focused to study.Firstly,based on the swarm intelligence theory,the UAVS system concept model is louilt,in the condition of considering four factors of repulsion,matching,attracting and agent's desire action,the swarm control's alterable coefficient repulsion-matching-attracting-desire(RMAD)model is presented.Based on these models,the UAVS self-organized flight control problems are studied on the following two conditions.One is all of the agents in swarm learned the information of the flight path and the other one is that part agents learned the information.The UAVS self-organized flight control strategy is presented which achieves UAVS's controllable self-organized flight.Simulation results show that the RMAD model and the proposed methods are feasible,which lay an academic and experimental foundation for UAVS's engineering application.
引文
[1]Zhang A,Liu Y F,Tang Z L,et al.Research on command and decision system architecture of cooperative formation air-to-ground attack[J].Computer Engineering and Applications,2010,46(29):232-235.(张安,刘跃峰,汤志荔,等.编队协同对地攻击指挥决策系统体系结构研究[J].计算机工程与应用,2010,46(29):232-235.)
[2]Wang J Y,Wei R X,Dong Z X,et al.Research on formation flight control of cooperative UAV[J].Fire Control&Command Control,2010,35(3):34-38.(王晋云,魏瑞轩,董志兴,等.无人机编队飞行控制仿真研究[J].火力与指挥控制,2010,35(3):34-38.)
[3]Fan Q J,Yang Z,Fang T,et al.Research status of coordinated formation flight control for multi-UAVs[J].Acta Aeronautica Et Astronautica Sinica,2009,30(4):683-691.(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.)
[4]Zhang G Z,Shen L C,Zhu H Y.The current situation and enlightenment of supervisory control technology for multiple UAVs[J].National Defense Science&Technology,2009,30(4):5-9.(张国忠,沈林成,朱华勇.多无人机监督控制技术的发展现状及启示[J].国防科技,2009,30(4):5-9.)
[5]Li Y,Zhang W Y.Command and control technology for unmanned combat vehicles[J].Command Information System and Technology,2011,2(6):6-9.(李瑜,张文玉.无人作战平台指挥控制技术[J].指挥信息系统与技术,2011,2(6):6-9.)
[6]Yuan S,Li F,Wang L,et al.An optimal coordination trajectory planning method of multiple unmanned air vehicles based on hierarchy strategy[J].Journal of Air Force Engineering University(Natural Science Edition),2015,16(2):33-37.(苑帅,李飞,王龙,等.基于分层策略的多无人机最优协同航路规划[J].空军工程大学学报(自然科学版),2015,16(2):33-37.)
[7]Li S B,Yang Z,Chen Z,et al.Flocking control based on neighborhood perception[J].Applied Science and Technology,2011,38(7):21-25.(李少斌,杨忠,陈喆.一种基于邻域感知的集群控制算法[J].应用科技,38(7),2011:21-25.)
[8]Iain D C,Jens K,Richard J,et al.Collective memory and spatial sorting in animal groups[J].Journal of Theory Biology,2002,218(1):1-11.
[9]Couzin I D,Krause J,Nigel R,et al.Effective leadership and decision-making in animal groups on the move[J].Nature,2005,433(7025):513-516.
[10]Liu M Y,Lei X K,Yang P P,et al.Progress of theoretical modeling and empirical studies on collective motion[J].Chinese Science Bulletin,2014,59(25):2464-2483.(刘明雍,雷小康,杨盼盼,等.群集运动的理论建模与实证分析[J].科学通报,59(25),2014:2464-2483.)
[11]Reynolds C.Flocks,herds and schools:a distributed behavioral model[J].Computer Graphics,1987,1(1):25-34.
[12]Tanner H G,Jadbabaie A,Pappas G J.Stable flocking of mobile agents,part I:fixed topology[C]∥Proc.of the 42nd IEEE Conference on Decision and Contro1,2003:2010-2015.
[13]Tanner H G,Jadbabaie A,Pappas G J.Stable flocking of mobile agents,partⅡ:dynamic topology[C]∥Proc.of the 42nd IEEE Conference on Decision and Control,2003:2016-2021.
[14]Gao Y P,Wang L,Jia Y M.Consensus of multiple second-order without velocity measurements[C]∥Proc.of the American Control Conference,2009:4464-4469.
[15]Wen G H,Duan Z S,Yu W W,et al.Consensus in multi-agent systems with communication constraints[J].International Journal of Robust and Nonlinear Control,2012,22(2):170-182.
[2]Wang J Y,Wei R X,Dong Z X,et al.Research on formation flight control of cooperative UAV[J].Fire Control&Command Control,2010,35(3):34-38.(王晋云,魏瑞轩,董志兴,等.无人机编队飞行控制仿真研究[J].火力与指挥控制,2010,35(3):34-38.)
[3]Fan Q J,Yang Z,Fang T,et al.Research status of coordinated formation flight control for multi-UAVs[J].Acta Aeronautica Et Astronautica Sinica,2009,30(4):683-691.(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.)
[4]Zhang G Z,Shen L C,Zhu H Y.The current situation and enlightenment of supervisory control technology for multiple UAVs[J].National Defense Science&Technology,2009,30(4):5-9.(张国忠,沈林成,朱华勇.多无人机监督控制技术的发展现状及启示[J].国防科技,2009,30(4):5-9.)
[5]Li Y,Zhang W Y.Command and control technology for unmanned combat vehicles[J].Command Information System and Technology,2011,2(6):6-9.(李瑜,张文玉.无人作战平台指挥控制技术[J].指挥信息系统与技术,2011,2(6):6-9.)
[6]Yuan S,Li F,Wang L,et al.An optimal coordination trajectory planning method of multiple unmanned air vehicles based on hierarchy strategy[J].Journal of Air Force Engineering University(Natural Science Edition),2015,16(2):33-37.(苑帅,李飞,王龙,等.基于分层策略的多无人机最优协同航路规划[J].空军工程大学学报(自然科学版),2015,16(2):33-37.)
[7]Li S B,Yang Z,Chen Z,et al.Flocking control based on neighborhood perception[J].Applied Science and Technology,2011,38(7):21-25.(李少斌,杨忠,陈喆.一种基于邻域感知的集群控制算法[J].应用科技,38(7),2011:21-25.)
[8]Iain D C,Jens K,Richard J,et al.Collective memory and spatial sorting in animal groups[J].Journal of Theory Biology,2002,218(1):1-11.
[9]Couzin I D,Krause J,Nigel R,et al.Effective leadership and decision-making in animal groups on the move[J].Nature,2005,433(7025):513-516.
[10]Liu M Y,Lei X K,Yang P P,et al.Progress of theoretical modeling and empirical studies on collective motion[J].Chinese Science Bulletin,2014,59(25):2464-2483.(刘明雍,雷小康,杨盼盼,等.群集运动的理论建模与实证分析[J].科学通报,59(25),2014:2464-2483.)
[11]Reynolds C.Flocks,herds and schools:a distributed behavioral model[J].Computer Graphics,1987,1(1):25-34.
[12]Tanner H G,Jadbabaie A,Pappas G J.Stable flocking of mobile agents,part I:fixed topology[C]∥Proc.of the 42nd IEEE Conference on Decision and Contro1,2003:2010-2015.
[13]Tanner H G,Jadbabaie A,Pappas G J.Stable flocking of mobile agents,partⅡ:dynamic topology[C]∥Proc.of the 42nd IEEE Conference on Decision and Control,2003:2016-2021.
[14]Gao Y P,Wang L,Jia Y M.Consensus of multiple second-order without velocity measurements[C]∥Proc.of the American Control Conference,2009:4464-4469.
[15]Wen G H,Duan Z S,Yu W W,et al.Consensus in multi-agent systems with communication constraints[J].International Journal of Robust and Nonlinear Control,2012,22(2):170-182.