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DOI:
飞控与探测:2021,(2):26-35
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基于路径跟随的改进领航-跟随无人机协同编队方法
胡阳修, 贺 亮, 赵长春, 陈 扬, 钱洲元
(上海航天控制技术研究所 上海市空间智能控制技术重点实验室)
Improved Method of Leader-Follower UAV Coordinated Formation Based on Path Following
HU Yangxiu, HE Liang, ZHAO Changchun, CHEN Yang, QIAN Zhouyuan
(Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology)
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中文摘要: 针对集群无人机完成高精度协同编队的需要,提出了一种基于路径跟随的改进领航-跟随无人机协同编队方法。首先,在传统A*算法的基础上,引入了障碍威胁系数改进A*算法,为领航无人机规划从起点到目标的全局安全路径;其次,采用Hermite多项式在离散化后对领航无人机的全局安全路径进行参数化表示。当遇到新的障碍信息时,利用改进A*算法重新规划路径;随后,领航无人机将跟随无人机的空间编队信息与编队路径参数信息在集群中完成同步;最后,基于一致性原理设计了编队队形协同控制器,并基于改进人工势场法设计了动态避障控制器。仿真结果表明,与传统的领航-跟随方法相比,该方法可以降低编队误差,提高了复杂曲线路径下无人机的编队精度与稳定性,具有一定的工程应用价值。
中文关键词: 集群;领航-跟随;曲线拟合;路径跟随;协同编队
Abstract:To meet the need of high-precision coordinated formation, an improved method of leader-follower UAV coordinated formation based on path following is proposed. Firstly, from the traditional A* algorithm, the obstacle threat coefficient is introduced to improve the A* algorithm to plan the global path from the starting point to the target. Secondly, the Hermite polynomial is used to parameterize the discrete flight path of the leader UAV. When it encounters new obstacles, the improved A* algorithm is used to re-plan the path, and then the space formation information and formation path parameter information of follower UAV are synchronized by leader UAV. Finally, the formation coordination and collision avoidance controllers are designed based on the consistency principle and improved artificial potential field. The simulation results show that, compared with the traditional leader-follower method, this method can reduce the formation error, and improve the formation accuracy and stability of the UAV swarm under the complex curve path, and shows the value of engineering application.
keywords: swarm; leader-follower; curve fitting; path following; coordinated formation
文章编号:20210204     中图分类号:V279    文献标志码:A
基金项目:智能无人系统控制技术联合实验室
作者单位
胡阳修 上海航天控制技术研究所 上海市空间智能控制技术重点实验室 
贺 亮 上海航天控制技术研究所 上海市空间智能控制技术重点实验室 
赵长春 上海航天控制技术研究所 上海市空间智能控制技术重点实验室 
陈 扬 上海航天控制技术研究所 上海市空间智能控制技术重点实验室 
钱洲元 上海航天控制技术研究所 上海市空间智能控制技术重点实验室 
Author NameAffiliation
HU Yangxiu Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology 
HE Liang Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology 
ZHAO Changchun Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology 
CHEN Yang Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology 
QIAN Zhouyuan Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology 
引用文本:
胡阳修,贺 亮,赵长春,陈 扬,钱洲元.基于路径跟随的改进领航-跟随无人机协同编队方法[J].飞控与探测,2021,(2):26-35.

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