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
乔港 1吴宇1
作者信息
- 1. 重庆大学航空航天学院,重庆,400044
- 折叠
摘要
针对无人机编队在飞行过程中任务发生变化的情形,提出了基于改进一致性理论的无人机编队航迹在线规划方法.首先,针对一致性算法进行改进,引入人工势场法,提出了考虑机间距离和相对速度的防碰撞策略;基于无人机相对位置和状态量,提出了考虑无人机转弯半径和速度的转弯策略.其次,基于编队拆分思想和RRT*算法,提出了基于拆分编队思想的在线航迹规划方法.仿真结果表明:防碰撞策略能使无人机之间在编队成形前保持安全距离,不发生碰撞;转弯策略能使编队在转弯过程中保持队形;编队重组的在线航迹规划方法能满足执行新增任务的情形.
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引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据