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.
作者
成浩浩
齐晓慧
杨森
席雷平
甄云卉
CHENG Hao-hao;QI Xiao-hui;YANG Sen;XI Lei-ping;ZHEN Yun-hui(UAV Engineering Department,Army Engineering University,Shijiazhuang 050003,China;Hebei Military Region Command,Shijiazhuang 050011,China)
出处
《飞行力学》
CSCD
北大核心
2019年第2期51-55,共5页
Flight Dynamics
关键词
四旋翼无人机
一致性方法
势场
编队
避障
quadrotor UAV
consistent method
potential field
formation
obstacle avoidance
