基于动态障碍物可达包络分析的无人机编队路径规划

doi:10.12305/j.issn.1001-506X.2025.04.24

Abstract

Abstract:

To solve the problem of unmanned aerial vehicle (UAV) formation to avoid dynamic obstacles with unknown behaviors, a UAVs formation path planning method based on the reachable envelope analysis of dynamic obstacles is proposed. Firstly, the model of the UAVs formation motion is established and the desired formation configuration is formed using the leader-follower method. Secondly, considering the uncertainty of the motion dynamic states of dynamic obstacles, a nonlinear motion model containing uncertainties is established, and the covariance propagation equation of the uncertainties is obtained by the state transfer tensor method, which generates the reachable envelope of the obstacle in the predicted time domain. Finally, the potential field model is established for the reachable envelope of the obstacle, and the artificial potential field method is applied to realize the UAVs formation obstacle avoidance flight. The results of comparative simulation experiments show that the proposed method can generate the reachable envelope of dynamic obstacles with unknown behaviors at one time online, and effectively solve problems such as path bypassing when the UAV formation avoids dynamic obstacles.

Key words: unmanned aerial vehicle (UAV) formation, dynamic obstacle, uncertainty, state transfer tensor method, reachable envelope analysis

CLC Number:

Zeyang YIN, Hao LIANG, Yuxin LIAO, Xiaofang CHEN, Yongfang XIE. UAV formation path planning based on reachable envelope analysis of dynamic obstacle[J]. Systems Engineering and Electronics, 2025, 47(4): 1275-1284.

Figures/Tables 10

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变量名称	数值
σ_η/(m·s^－2)	[0.01, 0.1, 0.06]^T
τ_η/s	[0.01, 0.2, 0.3]^T
动态障碍物初始状态	[7, 10, 1, 0.35, 0, 0]^T

变量名称	数值
最大线速度/(m·s^-1)	1
最小线速度/(m·s^-1)	0.1
俯仰角最大变化值/rad	1.047 2
偏航角最大变化值/rad	1.047 2
领航者初始状态	[－5, －5, 1, 0.5, 0, 0.78]^T
跟随者1初始状态	[－8.48, －5.65, 1, 0.5, 0, 0.78]^T
跟随者2初始状态	[－5.65, －8.84, 1, 0.5, 0, 0.78]^T
领航者目标位置/m	[35, 35, 1]^T
机间相对期望距离/m	4
机间相对期望夹角/rad	[2.618 0, 3.665 2]^T

变量名称	本文方法	传统人工势场法	减少百分比/%
领航者飞行路径长度/m	58.01	65.7	11.7
跟随者1飞行路径长度/m	60.9	78.9	22.8
跟随者2飞行路径长度/m	59.4	75.2	20.2
平均编队误差/m	22.6	69.5	67.5
飞行总时间/s	118	139	15.1

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UAV formation path planning based on reachable envelope analysis of dynamic obstacle

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