基于路径-速度解耦的无人机编队协同轨迹规划

doi:10.3969/j.issn.1001-506X.2020.09.13

Abstract

Abstract:

Aiming at the problem of cooperative trajectory planning for unmanned aerial vehicle (UAV) formation in complex maneuvering situation, a preview adaptive trajectory planning method based on path-speed decoupling method is proposed. In the path planning stage, considering the maneuvering curvature restrictions of UAV turning motion, the Dubins curve is used as the basic substructure of the path. In order to obtain the optimal connection control point of the Dubins curve, a preview distance planning algorithm with adaptive prefollowing path characteristics is designed. In the velocity planning stage, aiming at the control parameterization and time discretization(CPTD) velocity planning method, a differential zone velocity planning method under rasterized airspace is proposed, which is shortened to DIPR. The simulation results show that the preview distance adaptive algorithm can effectively optimize the path. Compared with t he fixed preview distance method, the turning degree is reduced by an average 30.70%, and the tracking deviation is reduced by 16.41%, the path length is decreased by 10.87%. Compared with CPTD method, DIPR converges 30 generation earlier, and the convergence value increases by 10.67% in average. The formation time is reduced by an average of 15.4 s. The results are obtained faster and better, and the speed curve results are continuous and smooth.

Key words: unmanned aerial vehicle (UAV), formation, trajectory planning, safety interval, Dubins curve, rasterization

CLC Number:

Honghai ZHANG, Xiaopeng QIAN, Xinwei WU, Hao LIU, Yu TIAN, Lichao WANG. Cooperative trajectory planning for UAV formation based onpath-speed decoupling[J]. Systems Engineering and Electronics, 2020, 42(9): 1976-1987.

Figures/Tables 20

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跟随机编号	初始相对位置/m	初始相对航向/(°)	初始速度大小/(m/s)	目标相对位置/m	目标相对航向/(°)	目标速度大小/(m/s)
1	(0, -150)	0	9.9	(-50, -503)	0	6.25
2	(-200, -100)	30	7.5	(50, -503)	0	6.25
3	(50, -300)	-15	8	(-100, -1003)	0	6.25
4	(150, -130)	30	6.25	(100, -1003)	0	6.25

方法	指标	1号	2号	3号	4号	平均
固定预瞄距离	转向弧度/rad	1.41	1.59	1.74	5.03	2.44
	跟踪偏离/m	45.79	93.16	96.64	45.65	70.31
	路径长度/m	618.47	587.34	793.88	590.81	647.63
预瞄点自适应	转向弧度/rad	1.47	0.52	1.63	3.15	1.69
	跟踪偏离/m	32.09	99.34	76.97	26.76	58.79
	路径长度/m	593.50	501.50	782.50	431.50	577.25

算法	单次迭代耗时/s	平均收敛代数	适应度收敛值
DE	1.11	60	0.897 8
PSO	1.20	47	0.920 3
BAS	3.31	43	0.911 3
GDGA	1.42	5	0.921 5

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Cooperative trajectory planning for UAV formation based onpath-speed decoupling

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