| 引用本文: | 茹常剑,魏瑞轩,郭庆,张立鹏.面向无人机自主防碰撞的认知博弈制导控制[J].控制理论与应用,2014,31(11):1555~1560.[点击复制] |
| RU Chang-jian,WEI Rui-xuan,GUO Qing,ZHANG Li-peng.Guidance control of cognitive game for unmanned aerial vehicleautonomous collision avoidance[J].Control Theory and Technology,2014,31(11):1555~1560.[点击复制] |
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| 面向无人机自主防碰撞的认知博弈制导控制 |
| Guidance control of cognitive game for unmanned aerial vehicleautonomous collision avoidance |
| 摘要点击 2290 全文点击 1008 投稿时间：2013-10-12 修订日期：2014-05-29 |
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| DOI编号 10.7641/CTA.2014.31064 |
| 2014,31(11):1555-1560 |
| 中文关键词 无人机 自主防碰撞 认知安全域 微分博弈 制导控制 |
| 英文关键词 unmanned aerial vehicle autonomous collision avoidance cognitive safety region differential game guidance control |
| 基金项目 中国航空科学基金资助项目(20135896027). |
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| 中文摘要 |
| 针对非隔离空域中的无人机碰撞规避问题, 提出一种基于认知博弈制导的无人机自主防碰撞方法. 首先, 描述了非隔离空域中无人机自主防碰撞控制问题. 其次, 建立了无人机与入侵机的运动学模型, 并构建了无人机的认知安全域, 将无人机碰撞规避问题转化为涉及两方的博弈问题. 然后, 提出了制导策略集的求解方法. 最后, 仿真结果验证了所提方法的有效性. |
| 英文摘要 |
| For the problem of unmanned aerial vehicle (UAV) collision avoidance in non-segregated airspace, a novel UAV autonomous collision avoidance control method based on guidance of cognitive game was proposed. First, UAV collision avoidance control problem in non-segregated airspace was described. Secondly, kinematics model of a UAV and the invasion vehicle was built. Also, cognitive safety region for a UAV was established. Thus, UAV collision avoidance problem was changed into a game problem involving two parties. Then, solving method for the set of guidance policy was proposed. Finally, the simulation results have verified effectiveness of the proposed method. |
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