空军工程大学学报2024，Vol.25Issue(4)：86-93,8.DOI:10.3969/j.issn.2097-1915.2024.04.013
基于改进一致性理论的无人机编队航迹在线规划
A Trajectory Planning Online for Unmanned Aerial Vehicle Formation Based on Improved Consistency Theory
摘要
Abstract
Mission being changeable in the process of flight for UAVs formations,a trajectory online planning method is proposed for unmanned aerial vehicle formation based on improved consensus theory.Firstly,the con-sensus algorithm is improved,and by introducing the artificial potential field method,a collision avoidance strategy is proposed in consideration of inter-vehicle distance and relative velocity.Additionally,a turning strategy is pro-posed in consideration of the UAV's relative position,state,turning radius,and speed.Furthermore,an online trajectory planning method is presented based on the concept of formation disassembly and the RRT* algorithm.The simulation results show that the collision avoidance strategy can make the intervals of UAVs a safe distance between UAVs before formation is made,preventing collisions,and the turning strategy makes the formation inte-gral in the process of turning,and the trajectory planning method online for formation recombination can handle the execution of new tasks.关键词
无人机/编队飞行/航迹规划/防碰撞与转弯/编队拆分/RRT*算法Key words
UAV/formation flight/trajectory plan/collision avoidance and turning/formation splitting/RRT* algo-rithm分类
航空航天引用本文复制引用
乔港,吴宇..基于改进一致性理论的无人机编队航迹在线规划[J].空军工程大学学报,2024,25(4):86-93,8.基金项目
国家自然科学基金(52102453) （52102453）
