基于层次分解策略无人机编队避障方法

Abstract

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.

CLC Number:

TP24

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.

References

[1] McLain T,Chandler P,Pachter M.A decomposition strategy for optimal coordination of un-manned air vehicles[C]//The Proc.of American Control Conference,Chicago,2000:369-373.
[2] Gokham Inalham,Stipanovic Dusan M,Tomlin Claire J.Decentralized optimization with Application to Multiple Aircraft Coordination[C]//Proc,of the 41^st IEEE Conference on Decision and Control,Las Vegas,NV,2002.
[3] Tom Schouwenaars,Jonathan How,Eric Feron.Decentralized Cooperative Trajectory Planning of Multiple Aircraft with Hard Safety Guarantees[C]//AIAA Guidance Navigation,and Control Conference and Exhibit.Providence,Rhode Island,2004.
[4] 谢明.多架无人机协同攻击多目标任务规划研究[D].西安:空军工程大学,2007.
[5] Robert Bohlin,Kavraki Lydia E.Path planning using lazy PRM[J].Proc.of the IEEE International Conference on Robotics and Automation,2000:521-528.
[6] 龙涛.孙汉昌,朱华勇.等.战场环境中多无人机任务分配的快速航路预估算法[J].国防科技大学学报,2006,28(5):109-113.
[7] 郑昌文,丁明跃,周成平,等.多飞行器协调航迹规划方法[J].宇航学报,2003,24(2):115-120.
[8] McLain T.Cooperative Rendezvous of Multiple Unmanned Air Vehicles[R].AIAA GNC,2000.
[9] Gokham Inalham,Stipanovic Dusan M,Tomtin Claire J.Decentralized optimization with application to multiple aircraft coordination[C]//Proc,of the 41st IEEE Conference on Decision and Control,Las Vegas,NV,2002.
[10] Eppstein D.Finding the k shortest paths[J].SIAM Journal of Computing,1998,28(2):652-673.
[11] Hershberger J,Suri S,Bhosle A.On the difficulty of some shortest path problem[C]//Proc,of 20^th sympos.Theoret.Aspects Comput.Sci,Leeture Notes Comput.Sci.Springer Verlag,2003.
[12] John Bellingham,Michael Tillerson,Arthur Richards,et al.Multi-task allocation and path planning for cooperating UCAVs[C]//Cooperative Control:Models,Applications and Algorithms at the Conference on Coordination,Control and Optimization,2001.
[13] McLain Timothy W,Beard Randal W.Coordination variables,coordination functions and cooperative timing missions[J].Journal of Guidance,Control and Dynamics,2005,28 (1):150-161.
[14] Furukawa Tomonari.Time-subminimal trajectory planning for discrete non-linear systems[J].Eng.Optim(S0305-215X),2003,34:219-243.

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

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 14

Recommended Articles

Metrics

Comments

[1]	Haobo FENG, Qiao HU, Zhenyi ZHAO. AUV swarm path planning based on elite family genetic algorithm [J]. Systems Engineering and Electronics, 2022, 44(7): 2251-2262.
[2]	Yongqi GAO, Weiqiang MA, Linsen ZHANG, Peng WANG, Miao ZHAO. Distributed multi-AUVs cooperative search method [J]. Systems Engineering and Electronics, 2022, 44(5): 1670-1676.
[3]	Wengang LI, Liujiang WANG, Dexiang FANG, Yuwei LI, Jun Huang. Path planning algorithm combining A^* with DWA [J]. Systems Engineering and Electronics, 2021, 43(12): 3694-3702.
[4]	An YAN, Zhang CHEN, Chaoyang DONG, Kanghui HE. Attitude balance control of two-wheeled robot based on fuzzy reinforcement learning [J]. Systems Engineering and Electronics, 2021, 43(4): 1036-1043.
[5]	Kanghui HE, Chaoyang DONG. Orthogonal transformed fifth-order cubature Kalman filter for navigation [J]. Systems Engineering and Electronics, 2020, 42(3): 680-685.
[6]	Xiaolong WANG, Haiying LIU, Jingqi WANG. Collaborative navigation of air-ground multi-agent based on hierarchical SLAM [J]. Systems Engineering and Electronics, 2020, 42(1): 166-171.
[7]	WEI Ying-jie, BI Feng-yang, ZHANG Jia-zhong, CAO Wei. Fuzzy sliding mode controller for time-delay and time-varying autonomous underwater vehicles [J]. Journal of Systems Engineering and Electronics, 2009, 31(8): 1949-1952,2023.
[8]	WANG Xiao-chen, YAO Yu, FU Shao-wen. Control design of disturbance rejection for a Stewart platform based on the internal model principle [J]. Journal of Systems Engineering and Electronics, 2009, 31(7): 1689-1693.
[9]	SU Hong-ming, CHEN Xiong, HAN Jian-da. Improved frontier-based exploration algorithm for multi-robot [J]. Journal of Systems Engineering and Electronics, 2009, 31(4): 901-904.
[10]	DUAN Xue-chao, QIU Yuan-ying, DUAN Bao-yan. Dynamical modeling and trajectory following control of the flexible supporting Stewart platform [J]. Journal of Systems Engineering and Electronics, 2009, 31(4): 895-900.
[11]	LIU Zi-long. Lateral position tracking control of unpiloted vehicle based on feedback-linearization [J]. Journal of Systems Engineering and Electronics, 2009, 31(01): 165-169.
[12]	HE Wen-hao, YUAN Kui, ZOU Wei. Self-adaptive threshold edge detection and its implementation in hardware [J]. Journal of Systems Engineering and Electronics, 2009, 31(01): 233-237.
[13]	LIU Zi-long. Lateral position tracking control of unpiloted vehicle based on feedback-linearization [J]. Journal of Systems Engineering and Electronics, 2009, 31(1): 165-169.
[14]	HE Wen-hao, YUAN Kui, ZOU Wei. Self-adaptive threshold edge detection and its implementation in hardware [J]. Journal of Systems Engineering and Electronics, 2009, 31(1): 233-237.