基于层次分解策略无人机编队避障方法

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (5): 1152-1157.

基于层次分解策略无人机编队避障方法

周炜, 魏瑞轩, 董志兴

空军工程大学工程学院, 陕西, 西安, 710038

收稿日期:2008-02-20 修回日期:2008-09-17 出版日期:2009-05-20 发布日期:2010-01-03
作者简介:周炜(1983- ),男,博士,主要研究方向为无人机协同控制,三维可视化.E-mail:junxiaozw@163.com
基金资助:
国家“863”高技术研究发展计划基金;国家自然科学基金(60304004)资助课题

Formation method of obstacle avoidance for UAVs based on control architecture and decomposition strategy

ZHOU Wei, WEI Rui-xuan, DONG Zhi-xing

Engineering Inst., Air force Engineering Univ., Xi'an 710038, China

Received:2008-02-20 Revised:2008-09-17 Online:2009-05-20 Published:2010-01-03

摘要/Abstract

摘要： 针对危险模式下无人机编队问题,提出基于层次分解策略的编队避障方法.通过构建Voronoi图,利用K路径算法为各无人机找到多条备选航路;然后建立协同函数,为各无人机规划出既能满足时间协同要求,又能满足整体代价最优(次优)的障碍物规避航迹.并设计了无人机编队的通行规则,解决了无人机在避障飞行过程中有可能产生的碰撞冲突问题.仿真结果验证了算法的有效性.

Abstract: For the flight formation problem under the danger mode,an method based on the control architecture and decomposition strategy for the formation of obstacle avoidance is proposed.By means of constructing and searching a Voronoi diagram,the reference flight paths for choice are generated based on the K shortest path algorithm.Then the cooperative function is established,and the collision avoidance path is designed for each UAV,which can meet both the request of cooperative time and the optimal(or second optimal) cost of the whole formation.Finally the traffic rule of formation flight is designed to tackle with the emergencies.Simulations verify the effectiveness of the proposed method.

中图分类号:

TP24

周炜, 魏瑞轩, 董志兴. 基于层次分解策略无人机编队避障方法[J]. Journal of Systems Engineering and Electronics, 2009, 31(5): 1152-1157.

ZHOU Wei, WEI Rui-xuan, DONG Zhi-xing. Formation method of obstacle avoidance for UAVs based on control architecture and decomposition strategy[J]. Journal of Systems Engineering and Electronics, 2009, 31(5): 1152-1157.

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