摘要
针对无人机编队重构中变换过程复杂以及响应速度慢的问题,提出基于改进人工势函数与动态约束的编队重构方法。首先,改进人工势函数并建立虚拟力场以及无人机编队模型;其次,使用受动态队形约束的动力学模型描述编队运动将编队运动,建立含有拉格朗日系数的约束动力学方程;然后,采用罚函数法代替拉格朗日系数的方法求解无人机编队的运动学方程;最后,设计二维平面以及三维空间中编队重构场景,开展仿真实验。结果表明,三维空间中编队在0.48s后完成队形变换,扩展编队2.78s后完成队形变换,且变换前后均保持队形稳定。
Aiming at the problems of complex transformation process and slow response speed in UAV formation reconstruction,a formation reconstruction method based on improved artificial potential function and dynamic constraints is proposed.First,the traditional artificial potential function is improved to establish a virtual force field and UAV formation model.Secondly,a kinetic model constrained by the dynamic formation is used to describe the formation motion and establish a constrained kinetic equation containing the Lagrangian coefficient.Then,the penalty function method is used to solve the kinetic equation of the UAV formation.Finally,formation reconstruction scenarios in two-dimensional plane and three-dimensional space are designed and simulation tests are carried out.The results show that the formation in three-dimensional space completes the formation transformation after 0.48s,and the extended formation completes the formation transformation after 2.78s.In addition,the formation is stable before and after the transformation.
作者
陈捷
党腾飞
王伟
于贵龙
CHEN Jie;DANG Tengfei;WANG Wei;YU Guilong(Xi'an Electronic Engineering Research Institute,Xi'an 710010)
出处
《火控雷达技术》
2024年第2期20-25,共6页
Fire Control Radar Technology
关键词
无人机编队
队形重构
人工势函数
约束动力学
UAV formation
formation reconstruction
artificial potential function
constrained dynamics
