哈尔滨工程大学学报2017，Vol.38Issue(6)：961-968,8.DOI:10.11990/jheu.201604037
基于改进人工势场的无人机编队防碰撞控制方法
UAV formation collision avoidance control method based on improved artificial potential field
摘要
Abstract
For the formation flight of unmanned aerial vehicles (UAVs),the problems of collision avoidance among UAVs and obstacle avoidance were investigated.In addition,a collision avoidance control method based on the improved artificial potential field was proposed.The concepts of communication topology and communication weights were introduced via consensus theory.The improved artificial potential field function was given with its effective range.The repulsive potential field between the UAV and an obstacle was defined,and an auxiliary repulsive potential affected by the relative velocity between them was constructed to make the UAV avoid the obstacle more efficiently.Moreover,a total velocity field for collision avoidance and obstacle avoidance was formulated.A collision avoidance algorithm was proposed to generate the orders of velocity,pitch angle,and yaw angle.A flight controller was designed to track these orders,and a whole formation system containing the collision avoidance control algorithm and flight controller was constructed.Three-dimensional flight simulation results show that the proposed method could achieve collision avoidance among UAVs quickly,as well as avoid obstacles effectively.关键词
无人机编队/机间防碰撞/障碍物规避/改进人工势场/通信拓扑/飞行控制Key words
unmanned aerial vehicles (UAVs) formation/collision avoidance among UAVs/obstacle avoidance/improved artificial potential field/communication topology/flight control分类
航空航天引用本文复制引用
朱旭,闫茂德,张昌利,林海,屈耀红..基于改进人工势场的无人机编队防碰撞控制方法[J].哈尔滨工程大学学报,2017,38(6):961-968,8.基金项目
国家自然科学基金项目(61473229) （61473229）
中央高校基本科研业务费项目(310832163403,310832161012) （310832163403,310832161012）
陕西省科技公关项目(2015GY052) （2015GY052）
陕西省国际科技合作与交流计划(2015KW-023) （2015KW-023）
西安市科技计划(CXY1512-3). （CXY1512-3）
