首页|A self-organization formation configuration based assignment probability and collision detection
A self-organization formation configuration based assignment probability and collision detection
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The formation control of multiple unmanned aerial vehicles(multi-UAVs)has always been a research hotspot.Based on the straight line trajectory,a multi-UAVs target point assignment algorithm based on the assignment probability is proposed to achieve the shortest overall formation path of multi-UAVs with low complexity and reduce the energy consumption.In order to avoid the collision between UAVs in the formation process,the concept of safety ball is introduced,and the colli-sion detection based on continuous motion of two time slots and the lane occupation detection after motion is proposed to avoid collision between UAVs.Based on the idea of game theory,a method of UAV motion form setting based on the maximization of interests is proposed,including the maximization of self-inter-est and the maximization of formation interest is proposed,so that multi-UAVs can complete the formation task quickly and reasonably with the linear trajectory assigned in advance.Finally,through simulation verification,the multi-UAVs target assign-ment algorithm based on the assignment probability proposed in this paper can effectively reduce the total path length,and the UAV motion selection method based on the maximization inter-ests can effectively complete the task formation.
straight line trajectoryassignment probabilitycolli-sion detectionlane occupation detectionmaximization of inter-ests
SONG Wei、WANG Tong、YANG Guangxin、ZHANG Peng
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School of Harbin Engineering University,Harbin 150001,China
Chinese Aeronautical Establishment,Beijing 100010,China
Basic Scientific Research Business Expenses of Central Universities
NETL
NSTL
万方数据
维普
