中南大学学报（自然科学版）Issue(1)：114-122,9.DOI:10.11817/j.issn.1672-7207.2016.01.017
多无人机协同障碍规避控制方法
Control method for multi-UAVs cooperative obstacle avoidance
摘要
Abstract
For solving the problem of multi-UAVs (multi-unmanned aerial vehicles) cooperative obstacle avoidance in dynamic environment, a method for controller design in combination with the extended Kalman filter (EKF) and model predictive control (MPC) was proposed. Firstly, distributed architecture for UAV cooperative obstacle avoidance, the motion model of UAV and the communication topology were established, respectively. Then the EKF algorithm was used to predict the trajectory of dynamic obstacle, and an information compensation rule was designed. Afterwards, based on the model predictive control (MPC) method, the controller for UAV obstacle avoidance was designed. The results show that the proposed EKF method can predict the trajectory of dynamic obstacle correctly, and that the cooperation between the UAVs can reduce the predictive errors effectively.关键词
无人机协同/障碍规避/扩展卡尔曼滤波/模型预测控制Key words
UAVs cooperation/obstacle avoidance/extended Kalman filter/model predictive control分类
航空航天引用本文复制引用
张立鹏,茹常剑,周欢..多无人机协同障碍规避控制方法[J].中南大学学报（自然科学版）,2016,(1):114-122,9.基金项目
国家自然科学基金资助项目(61105012)；中国航空科学基金资助项目(20135896027)(Project(61105012) supported by the National Natural Science Foundation of China （61105012）
Project(20135896027) supported by the China Aviation Science Foundation) （20135896027）
