A vector field based method for multi-UAV simultaneous arrival

DOI编号  10.7641/CTA.2018.70225
2018,35(9):1215-1228

 作者 单位 E-mail 蒋婉玥 南京航空航天大学 jwy1992@126.com 王道波 南京航空航天大学 王寅 南京航空航天大学 杨军 南京航空航天大学

编队集结是无人机编队飞行的必要条件. 固定翼无人机由于其速度可变范围有限, 难以通过单一的速度调 整的方式构成编队. 本文提出了一种以路径调节为主、速度调节为辅的无人机编队集结策略, 根据各无人机到达集 结位置的最短预估时间确定集结时间. 并提出一种时变向量场的构造方式, 将水平机动的思想与时变向量场相结 合, 根据无人机的飞行状况通过时变向量场实时调整路径长度, 同时调整自身速度, 使各无人机都能在集结时间到 达集结位置, 且速度和航向角保持一致, 从而实现编队集结. 随后证明了系统的收敛性, 并分析了实际情况中避撞 问题的处理. 论文用某型无人机的大偏差非线性数学模型对所提的编队集结方法进行了验证, 证明了所提方法具 有较好的实用性.

The simultaneous arrival of unmanned aerial vehicles (UAVs) is a fundamental condition for UAV formation flight. Fixed-wing UAVs have limited forward speed, which makes it difficult to achieve simultaneous arrival by using only speed adjustment. This paper proposes a UAV simultaneous arrival method. It integrates trajectory adjustment to speed tuning, and changes the arrival time according to the UAVs’ estimated flight time. A time varying vector field is constructed to adjust the flight trajectory in real time. The UAVs changes their trajectories by using the vector field, therefore changes the flight time. With both trajectory and speed variation, the UAVs can arrive at their given positions simultaneously with consistent speed and heading angles. The convergence of the system is analyzed, and the collision avoidance problem is addressed. A large deviation nonlinear mathematical UAV model is used for simulation, and the results show that the proposed method works well.