分布式无人机队列控制与动态障碍规避设计
作者:
作者单位:

1.天津大学电气自动化与信息工程学院;2.天津航海仪器研究所

作者简介:

通讯作者:

中图分类号:

TP 273

基金项目:

国家自然科学基金(91748121, 90916004), 国家重点研发计划资助2018YFB1403900


Distributed Unmanned Aerial Vehicle Platoon Control with Dynamic Obstacle Avoidance
Author:
Affiliation:

1.Tianjin University;2.Tianjin Navigation Instrument Research Institute

Fund Project:

Natural Science Foundation of China (Grants Nos. 91748121, 90916004), National Key R&D Program of China (2018YFB1403900)

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    摘要:

    本文研究了分布式无人机集群巡航任务中的协同路径跟踪问题与动态避障控制问题. 利用Transverse Feedback Linearization(TFL)方法对无人机的动力学模型进行变换,通过解耦控制实现了对期望巡航路径的跟踪. 在期望路径方向上,设计了基于一致性协议的分布式无人机队列协同控制算法,并结合势场法设计了协同巡航过程中对移动障碍物的规避控制策略.在队列达成一致性目标的同时,保障了队列行进的安全性.基于Lyapunov分析方法和LaSalle不变原理证明了闭环系统的稳定性,同时采用能量法证明了队列中的无人机不会与动态障碍物发生碰撞.最后,基于搭建的无人机协同飞行实验平台,完成了多架无人机的协同队列控制和移动障碍物规避实验.飞行实验结果验证了本文所设计协同控制算法与避障控制策略的有效性.

    Abstract:

    In this paper, the cooperative cruising control and dynamic obstacle avoidance problems for Unmanned Aerial Vehicle (UAV) platoon are investigated. The Transverse Feedback Linearization (TFL) method is employed to transfer the dynamic model of UAVs, and a decoupled control input is designed for the platoon to follow the desired path.Following the cruise path, a distributed control strategy based on the consensus protocal is developed. In order to ensure the safety of the UAV platoon which is subject to the moving obstacle, this paper also proposes an obstacle avoidance control strategy via the combination of the potential field methodology with the consensue protocal. The stability of the proposed control strategy is proved via Lyapunov based stability analysis and LaSalle"s Invariance Principle. Meanwhile, it is proved through the energy-based analysis that no collisions occur between any agent in the vehicle platoon and the moving obstacle. Finally, real-time experiments of cooperative flight control and obtacle avoidance are performed to demonstrate the effctiveness of the proposed control strategy.

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历史
  • 收稿日期:2021-01-23
  • 最后修改日期:2021-05-06
  • 录用日期:2021-05-12
  • 在线发布日期: 2021-07-01
  • 出版日期: