系统工程与电子技术 ›› 2019, Vol. 41 ›› Issue (9): 2092-2099.doi: 10.3969/j.issn.1001-506X.2019.09.24

• 制导、导航与控制 • 上一篇    下一篇

基于NMPC的无人机自主防撞控制方法

宋敏1, 戴静2, 孔韬3   

  1. 1. 空军工程大学空管领航学院, 陕西 西安 710038;2. 空军工程大学信息与导航学院, 陕西 西安 710038; 3. 空军装备部驻济南地区军事代表室, 山东 济南 250101
  • 出版日期:2019-08-27 发布日期:2019-08-20

UAV autonomous collision avoidance control method based on NMPC

SONG Min1, DAI Jing2, KONG Tao3   

  1. 1. School of Air Traffic Control and Navigation, Air Force Engineering University, Xi’an 710038, China;
    2. School of Information and Navigation, Air Force Engineering University, Xi’an 710038, China;
    3. Air Force Equipment Department Millitary Representative Room in Jinan, Jinan 250101, China
  • Online:2019-08-27 Published:2019-08-20

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摘要：

针对非合作条件下的无人机自主防相撞控制问题,在分析无人机与入侵飞机在三维空间几何关系的基础上,提出并证明了相撞冲突判决准则,定义最小间隔和剩余冲突消解时间衡量无人机与多入侵飞行器间的冲突紧急程度,建立了无人机自主防撞最优控制模型。基于非线性模型预测控制方法建立三维空间无人机自主防撞控制算法,运用剪枝搜索方法提高算法求解时效性。仿真实验表明,所提算法实现多无人机高动态环境下的防撞控制,能够有效降低无人机飞行安全威胁。

关键词: 无人机, 自主防撞, 非线性模型预测控制, 冲突消解

Abstract:

Aimed at solving the unmanned aerial vehicle (UAV) autonomous collision avoidance problem in the noncooperation environment, a 3D UAV collision avoidance control algorithm is designed. Based on analyzing the spatial relationship of UAV and intruders, a collision measure rule is proved， and the minimum interval and residual conflict resolution time are defined to measure conflict emergency between UAV and intruders. According to the collision measure rule, a UAV collision avoidance decision model is established based on the nonlinear model predictive control (NMPC) algorithm. In order to solve the collision avoidance model effectively, a cut-off search method is designed. The simulations show that, the proposed algorithm can implement UAV collision avoidance in noncooperation environment, has fast performance and less computation, and can reduce the UAV collision danger effectively.

Key words: unmanned aerial vehicle (UAV), autonomous collision avoidance, nonlinear model predictive control (NMPC), collision resolve

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