海军航空大学学报2023，Vol.38Issue(6)：497-502,518,7.DOI:10.7682/j.issn.2097-1427.2023.06.008
基于零空间方法的四旋翼无人机避障与协同编队控制
Obstacle Avoidance and Cooperative Formation Control for Quadrotor UAVs Based on Null-Space-Based Method
摘要
Abstract
A null-space-based(NSB)method-based obstacle avoidance and cooperative formation control algorithm for quadrotor unmanned aerial vehicles(UAVs)is proposed to address the problem of encountering obstacles during forma-tion flight and mission execution,considering the requirements of obstacle avoidance and collision avoidance among mul-tiple UAVs.Firstly,the dynamic model of quadrotor UAV and the simplified control model using virtual control variables are established.Secondly,based on the NSB method,a research is conducted on obstacle avoidance and cooperative for-mation control strategy.The task execution of each UAV is decomposed into three types of tasks:target orientation task,obstacle avoidance and collision avoidance task,and cooperative formation task.The desired speed is obtained by task fu-sion according to priority,and then the control law is designed based on the PID method.Finally,the effectiveness of the proposed control algorithm is verified by the simulation.The proposed method can ensure the flight safety of quadrotor UAVs when encountering obstacles during formation flight.关键词
四旋翼无人机/避障/协同编队控制/零空间方法Key words
quadrotor UAV/obstacle avoidance/cooperative formation control/null-space-based method分类
计算机与自动化引用本文复制引用
杨钟煜,余自权,程月华,徐贵力..基于零空间方法的四旋翼无人机避障与协同编队控制[J].海军航空大学学报,2023,38(6):497-502,518,7.基金项目
国家自然科学基金(62373188,62003162) （62373188,62003162）
江苏省自然科学基金(BK20200416) （BK20200416）
中国高校产学研创新基金(2021ZYA02005) （2021ZYA02005）
航空科学基金(20220007052003) （20220007052003）
