航空工程进展2025，Vol.16Issue(5)：28-41,14.DOI:10.16615/j.cnki.1674-8190.2025.05.03
基于领导跟随策略的一致性编队避障控制研究
Obstacle avoidance control of consensus formation based on leader-following strategy
摘要
Abstract
Obstacle avoidance flight is an important problem to be solved in cluster formation flight of UAV in com-plex environment.In order to achieve efficient and reliable obstacle avoidance flight,based on the distributed leader-following consensus control strategy,the UAV cluster is divided into the leader in charge of path planning and the fol-lower responsible for formation control.An improved RRT*(rapidly-exploring random tree star)path planning algo-rithm is proposed to provide real-time path planning for the UAV cluster in complex environments with dynamic ob-stacles.Based on the backstepping control method and taking the formation consensus protocol as the error,a distrib-uted formation flight control law is developed to dynamically adjust the formation spacing according to the environ-ment.By constructing three kinds of obstacle environments with different complexity to validate the formation obsta-cle avoidance algorithm,simulation results show that the proposed approach may generate feasible formation flight paths rapidly corresponding to the environment changes,and realize the accurate control of variable spacing formation flight of UAV cluster,which achieves the goal of efficient obstacle avoidance for the cluster formation flight.关键词
无人机集群/编队避障/领导跟随策略/改进RRT*算法/一致性协议/反步法Key words
UAV cluster/formation obstacle avoidance/leader-following strategy/improved RRT* algorithm/consensus protocol/backstepping method分类
航空航天引用本文复制引用
朱许,王正宁,章胜,匡育衡,张博涵,黄江涛..基于领导跟随策略的一致性编队避障控制研究[J].航空工程进展,2025,16(5):28-41,14.基金项目
国家自然科学基金(11902332) （11902332）
