CN108549407A - A kind of control algolithm of multiple no-manned plane collaboration formation avoidance - Google Patents
A kind of control algolithm of multiple no-manned plane collaboration formation avoidance Download PDFInfo
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Abstract
The present invention is a kind of control algolithm of multiple no-manned plane collaboration formation avoidance, is included the following steps：(1) when unmanned plane forms into columns and executes aerial mission, position, the velocity information of unmanned plane and spatial domain barrier are detected by airborne sensor, and the barrier in flight space is abstracted into sphere；(2) unmanned plane formation communication topology is built according to the location information of each unmanned plane, and distributed transmission mode is used to realize the information exchange between neighbours' unmanned plane in forming into columns；(3) unmanned plane kinetic model is established；(4) when an obstacle is detected, determine the safe distance of unmanned plane avoidance, and judge that whether arbitrary spacing between unmanned plane and barrier meets the requirement of safe distance in unmanned plane formation, if not meeting, by fictitious force Developing Tactics flight pattern and carries out avoidance.The algorithm has operability, simplicity, it can be achieved that multiple UAVs collaboration formation and for greater flexibility avoiding barrier, are of great significance the more cooperations of reality.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical fields, and in particular to a kind of control calculation of multiple no-manned plane collaboration formation avoidance
Method.
Background technology
Unmanned plane is in autonomous military and civilian sides for executing complexity such as spatial domain monitoring, Radiation monitoring, target positioning and tracking
There are good performance and apparent advantage in face.It is even more to have the advantages of high task execution success rate, main table that multiple no-manned plane, which is formed into columns,
Now：(1) big visual field investigation, high accuracy positioning, multi-angle imaging；(2) task execution success rate and whole hit rate can be improved；
(3) cruise duration extends, and reduces whole flight resistance.
In the task of execution, there may be the barriers such as building, mountain peak, flock of birds in the practical flight spatial domain that unmanned plane is formed into columns
Hinder object, the presence of these barriers will threaten the flight safety of unmanned plane.Other than barrier, every frame unmanned plane in formation
It also to avoid colliding with other unmanned planes.
Currently, the flight path that multiple no-manned plane is formed into columns mostly uses greatly Model Predictive Control Algorithm realization.Relative maturity and ratio
More general formation algorithm includes mainly leader-wing plane method, Artificial Potential Field Method, Behavior-based control method and virtual architecture method.However, working as
When encountering barrier, existing control algolithm, which is unable to control between multiple no-manned plane, had not only kept the constraint of good formation again can be flexibly
Avoiding barrier, the communicating interrupt be easy to causeing between unmanned plane cause appointed task that can not complete.
Invention content
The present invention in view of the above shortcomings of the prior art, provides a kind of control algolithm of multiple no-manned plane collaboration formation avoidance,
Realize the collaboration formation avoidance obstacle to multiple UAVs, and allow multiple no-manned plane with flight pattern it is more flexible hide barrier
Hinder object.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions.The present invention be it is a kind of mostly nobody
Machine cooperates with the control algolithm of formation avoidance, its main feature is that, include the following steps：
(1) when unmanned plane forms into columns and executes aerial mission, unmanned plane and spatial domain barrier are detected by airborne sensor
Position, velocity information, and the barrier in flight space is abstracted into sphere；
(2) unmanned plane formation communication topology is built according to the location information of each unmanned plane, and uses distributed transmission mode
Realize the information exchange between neighbours' unmanned plane in forming into columns；
(3) unmanned plane kinetic model is established；
(4) when an obstacle is detected, it determines the safe distance of unmanned plane avoidance, and judges arbitrary during unmanned plane is formed into columns
Whether the spacing between unmanned plane and barrier meets the requirement of safe distance, if not meeting, passes through fictitious force Developing Tactics
Flight pattern simultaneously carries out avoidance, wherein shown in the safe distance of unmanned plane avoidance such as formula (7)：
Wherein, RoAnd RiRespectively barrier radius and unmanned plane itself radius, δ expressions have needed for information uncertainty
Standby safe distance, η indicate the folder between the flying speed direction and unmanned plane center and the line at barrier center of unmanned plane
Angle, kvAnd kηThe control parameter of relative velocity and angle is respectively adjusted,Indicate unmanned plane and barrier
Speed of related movement, Vi(t) and Vo(t) indicate respectively unmanned plane and moving obstacle t moment speed, when barrier is quiet
When only,
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (two) in, the Communication topology is defined asWherein, v=(v1..., vn) it is limited non-empty node；Indicate each unmanned plane in forming into columns；ε=v × v is node
Between side set, indicate unmanned plane between information transmit state；Indicate connection weight matrix, aijIt indicates
From unmanned plane node i to the connection weight of unmanned plane node j, if there is information is from νjIt is transmitted to νi, then νjIt is νiNeighbours without
It is man-machine, a at this timeij=1, otherwise aij=0；νiThe collection of neighbours be combined into Ni={ vj∈v：(vi, vj)∈ε}。
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (four) in, the fictitious force strategy includes the following steps：
(1) form into columns to unmanned plane and carry out force analysis, including solve each unmanned plane by the formation other nobody
The gravitation and barrier that the active force of machine, target point generate each unmanned plane in the formation are to each in the formation
The repulsion that unmanned plane generates；
(2) resultant force that each unmanned plane is subject to is calculated；
(3) objective speed amount is defined, and calculates desired speed of each unmanned plane on ground coordinate three-dimensional；
(4) desired speed of each unmanned plane in all directions is converted to the target flight control instruction of each unmanned plane；
(5) each unmanned plane during flying state is adjusted to keep unmanned plane by inputting the target flight control instruction of each unmanned plane
Flight pattern and the flight track progress avoidance for changing unmanned plane formation.
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (1) in, each unmanned plane by the formation other nobody
The active force of machine is：
Wherein, k1And k2It is the normal number for controlling flight pattern and controlling the collaboration of formation flight speed, P respectivelyi(xi,yi,
zi) and Pj(xj,yj,zj) it is respectively the three-dimensional space position of unmanned plane i, j under earth axes, rijIndicate nobody of setting
Space length between machine i and j, ViAnd VjThe flying speed of unmanned plane i, j are indicated respectively.
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (1) in, the target point is to each unmanned plane in the formation
The gravitation of generation is：
Wherein,For shown in formula (6)：
Wherein, k3It is the direct proportion gain coefficient of gravitation potential field, Pt(xt,yt,zt) be target point under earth axes
Three-dimensional space position, ρit=║ Pt-Pi║ indicates that the space length , ║ ║ between unmanned plane i and target point t represent L2Norm.
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (1) in, the barrier is to each unmanned plane in the formation
The repulsion of generation is：
Wherein, k4It is the direct proportion gain coefficient of repulsion potential field, c is adjustable control parameter, ρioIndicate unmanned plane i with
The distance between barrier, ρiominIndicate the minimum safe distance between unmanned plane and barrier, Po(xo,yo,zo) it is barrier
Three-dimensional space position under earth axes.
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (2) in, resultant force that each unmanned plane is subject to, which is equal to, forms into columns
In other unmanned planes generate active force, target point generate gravitation and barrier generate repulsion resultant force, such as formula (11) institute
Show：
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (3) in, the objective speed amount is defined as follows：
Total fictitious force that unmanned plane is subject to is decomposed into three-dimensional all directions, speed of each unmanned plane in three-dimensional all directions
Respectively as shown in formula (13), (14), (15)：
Wherein,Respectively unmanned plane i is in three-dimensional x, y, the speed on the directions z,Respectively
It is unmanned plane j in three-dimensional x, y, the speed on the directions z, xijFor setting unmanned plane i and j in the direction of the x axis at a distance from, yijFor
The unmanned plane i and j of setting in the y-axis direction at a distance from, zijFor setting unmanned plane i and j in the z-axis direction at a distance from.
The technical problems to be solved by the invention can also be further realized by technical solution below.It is described above
Multiple no-manned plane collaboration formation avoidance control algolithm the step of (4) in, the target flight control instruction is：
Wherein,Respectively flying speed instruction, course angle instruction and yaw angle instruction.
Compared with prior art, the present invention is directed to the task feature of unmanned plane formation avoidance, is built in multiple no-manned plane system
Vertical communication topology, each unmanned plane send the information state of oneself by communication network and obtain the state of neighbours' unmanned plane, then profit
Internal environmental information is integrated with formation consistency algorithm and updates local state, it is made to reach formation unanimously with neighbours' unmanned plane,
It keeps to solve the problems, such as to form into columns and avoids colliding between machine.It is built using improved Artificial Potential Field Method outside unmanned plane formation
Virtual potential field makes the information such as distribution situation and its range of the barrier in target location and flight environment of vehicle to be more suitable for unmanned plane
The form of avoidance is reflected in the potential field value of environment every bit, unmanned plane according to potential field value variation determine flight direction and
Speed, to make unmanned plane that can also hide spatial domain barrier and target in the case of no flight path of planning in advance
Point.Such algorithm has operability, simplicity, is very suitable for the dynamic environment of unmanned plane, shows neighbouring interactivity, group
The features such as body stability and environmental suitability, may be implemented multiple UAVs collaboration and form into columns, and more flexible avoiding barrier, right
The more cooperations of reality are of great significance.
Description of the drawings
Fig. 1 is schematic diagram of the target point of the present invention to the virtual gravitation potential field of unmanned plane；
The schematic diagram of the improved safe distance of Fig. 2 present invention；
Fig. 3 is schematic diagram of the barrier of the present invention to the virtual repulsion potential field of unmanned plane；
Fig. 4 is the structural schematic diagram of communication topology of the present invention by taking the formation of three frame unmanned planes as an example；
Fig. 5 is the avoidance flight path of three frame unmanned planes of the invention；
Fig. 6 is the pitch angle response curve of three frame unmanned planes of the invention；
Fig. 7 is the flight path that three frame unmanned planes of the invention carry out formation avoidance in slype.
Specific implementation mode
The specific implementation mode that the present invention will be described in detail with reference to the accompanying drawings.
Embodiment 1, the present invention are a kind of control algolithms of multiple no-manned plane collaboration formation avoidance, include mainly step：
(1) when unmanned plane forms into columns and executes aerial mission, unmanned plane and spatial domain barrier are detected by airborne sensor
Position, velocity information, and the information detected is transferred to unmanned aerial vehicle control system, make every frame unmanned plane can be according to these letters
Breath carry out respectively it is appropriate motor-driven, keep flight pattern and avoid and barrier collide；It meanwhile for ease of calculation, will be in sky
Barrier in domain is simplified and is abstracted into the sphere with certain radius.
Airborne sensor of the present invention can be disclosed in the prior art or commercially available any type can be applied
In sensor of the invention, such as laser range finder, ultrasonic range finder.
(2) multiple no-manned plane formation communication topology is built according to the location information of each unmanned plane.Communication topology uses digraph
To indicate that the transmission of the information between neighbours' unmanned plane, unmanned plane formation reach the mesh that collaboration is formed into columns by neighbor information exchange
, digraph is denoted asWherein, v=(v1..., vn) be limited non-empty node, indicate form into columns in it is each nobody
Machine；The set on the sides between node ε=v × v indicates that the information between unmanned plane transmits state；Indicate connection
Weight matrix, aijConnection weight element is indicated, if there is information is from νjIt is transmitted to νi, then νjIt is νiNeighbours' unmanned plane, at this time
aij=1, otherwise aij=0.νiThe collection of neighbours be combined into Ni={ vj∈v：(vi, vj)∈ε}.Contain the oriented life of cluster in digraph
There are a directed walks to lead to other all nodes and if only if at least one node by Cheng Shu, which can
It allows and obtains the most unmanned plane of information to more neighbours' unmanned planes transmission information.
To ensure that an at least frame unmanned plane knows that the position of target point, other unmanned planes can profits in unmanned plane formation
Neighbours' unmanned plane target point is followed with communication network.Moreover, center navigator's unmanned plane, individual is not present in unmanned plane in forming into columns
Unmanned plane only has local perception and communication capacity, by the information exchange with neighbouring unmanned plane, in time changes itself
Movement is to adapt to dynamic environment.
(3) unmanned plane kinetic model is established.For UAV Formation Flight, unmanned plane kinematics characteristic is focused on
Aspect, needs the modeling of unmanned plane single machine kinematics characteristic, kinetics equation to be：
Wherein, (xi,yi,zi) indicate three-dimensional space position of the unmanned plane under earth axes, Vi、ψiAnd θiIt indicates respectively
Flying speed, flight path course angle and the flight path pitch angle of unmanned plane, τVIt indicates and the relevant Velocity Time constant of state of flight, τψ
Indicate course angle time constant,And τθIndicate two pitch angle time constants,It is inputted for the control of system
Amount,WithSpeed command, course angle instruction and pitch command are indicated respectively.
Above-mentioned unmanned plane model is the Three Degree Of Freedom unmanned plane model with automatic pilot, and every frame unmanned plane is each by controlling
From Speed stabilizer, flight path pitch angle retainer, course angle retainer keep flying.
(4) when an obstacle is detected, judge during unmanned plane is formed into columns whether is arbitrary spacing between unmanned plane and barrier
Meet the safe distance requirement of unmanned plane avoidance, if not meeting the requirement of safe distance, is formed into columns by fictitious force Developing Tactics
Formation simultaneously carries out avoidance.
Wherein, the fictitious force strategy described in step (5) includes the following steps：
(1) the virtual field of force is constructed, forms into columns to unmanned plane and carries out force analysis, be as follows：
(a) different from single rack unmanned plane avoidance, multiple no-manned plane cooperates in formation avoidance task, it is desirable that each unmanned plane should be kept away
Exempt to keep preset distance as far as possible again with the collision of neighbours' unmanned plane, therefore, by sky of the unmanned plane in a manner of flight pattern
Between move and regard as by the forms of motion inputted in order to control with formation fictitious force.
The active force for defining other unmanned planes that are subject to of each unmanned plane in multiple no-manned plane fleet system is：
Wherein, k1And k2It is the normal number for controlling flight pattern and controlling the collaboration of formation flight speed, P respectivelyi(xi,yi,
zi) and Pj(xj,yj,zj) it is respectively the three-dimensional space position of unmanned plane i, j under earth axes, rijIndicate nobody of setting
Space length between machine i and j.
When the distance between unmanned plane i and unmanned plane j are more than at a distance from flight pattern setting, unmanned plane i will be by nothing
The gravitation of man-machine j furthers unmanned plane i to the distance of unmanned plane j, is compiled until the distance between unmanned plane i and unmanned plane j are equal to
The distance that team's formation requires；When the distance between unmanned plane i and unmanned plane are less than at a distance from flight pattern requirement, unmanned plane
I becomes larger unmanned plane i to the distance of unmanned plane j, by by the repulsion of unmanned plane j until between unmanned plane i and unmanned plane j
Distance is equal to the distance that flight pattern requires.When unmanned plane formation reaches stable state of flight, | | Pi-Pj-rij| | → 0, |
Vi(t)-Vj(t)|→0。
According to the relative distance with neighbours' unmanned plane, formation fictitious force is divided into formation repulsion and formation gravitation, such as formula (3)
It is shown：
Wherein,For formation gravitation,For formation repulsion.
Formation repulsion makes adjacent closer unmanned plane move in the opposite direction, to avoid being collided between machine；Formation gravitation
Adjacent unmanned plane farther out is set to move toward one another, to avoid lost contact.
(b) for formation unmanned plane when executing aerial mission, target point generates graviational interaction to each frame unmanned plane always, generates
Gravitation potential field.Regard unmanned plane formation as an entirety, as long as certain frame unmanned plane reaches specified target point, and its in forming into columns
He keeps desired distance by the unmanned plane of unmanned plane and arrival target point, and being considered as entirely forming into columns reaches specified target point.
Classical gravitational potential field function is improved to：
Wherein, ρit=| | Pt-Pi| | indicate the space length between unmanned plane i and target point t, PtIt is target point t on ground
Three-dimensional space position under coordinate system, | | | | indicate L2Norm, k3It is the direct proportion gain coefficient of gravitation potential field.
Improved gravitation potential field is as shown in Figure 1.
The virtual field of force where unmanned plane is conservation law, and therefore, the gravitation of gravitation potential field is the negative gradient of potential function, is obtained
The gravitation that each unmanned plane is subject in gravitation potential field is：
Wherein,For shown in formula (6)：
(c) when the coverage of unmanned plane barriers to entry object, the repulsion that can be generated by barrier acts on.
First, it is contemplated that if simply setting the safe distance of unmanned plane avoidance to a certain particular value, work as unmanned plane
When the coverage and flying speed and acceleration of barriers to entry object are in high level, it is likely that because not enough spaces are come
Completion avoidance is motor-driven to cause avoidance to fail.Therefore, the safe distance of unmanned plane avoidance is improved to：
Wherein, RoAnd RiRespectively barrier radius and unmanned plane itself radius, δ expressions have needed for information uncertainty
Standby safe distance, η indicate the folder between the flying speed direction and unmanned plane center and the line at barrier center of unmanned plane
Angle, kvAnd kηThe control parameter of relative velocity and angle is respectively adjusted,Indicate unmanned plane and barrier
Speed of related movement, Vi(t) and Vo(t) indicate respectively unmanned plane and moving obstacle t moment speed, when barrier is quiet
When only,Indicate the flying speed of unmanned plane itself.
It is therefore seen that the relative velocity of unmanned plane and moving obstacle is bigger, the safe distance of unmanned plane avoidance is bigger.When
When angle between the flying speed direction and unmanned plane center and the line at barrier center of unmanned plane is more than pi/2, indicate without
It is man-machine to have flown near barrier, it is not required to be further continued for keeping larger safe distance, it is only necessary to keep minimum with barrier
Safe distance.Improved safe distance is as shown in Figure 2.
Secondly, the repulsion that disturbance of analysis object generates unmanned plane.When in the coverage of unmanned plane barriers to entry object, by
To the repulsion potential role of barrier, when closer apart from barrier, repulsion potential field is bigger.In order to allow unmanned plane in the short period
Repulsion potential field function is improved to such as minor function by interior avoiding barrier：
Wherein, k4It is the direct proportion gain coefficient of repulsion potential field, c is adjustable control parameter, ρioIndicate unmanned plane with
The distance between barrier, ρiominThe minimum safe distance between unmanned plane and barrier is indicated, when being less than minimum safe distance
Think to collide.It is apparent that when the distance between unmanned plane i and barrier are intended to ρiominWhen, repulsion potential field is positive nothing
Thoroughly, as shown in formula (9):
Improved repulsion potential field is as shown in figure 3, by repulsion potential field function setup at the Morse functions of broad sense, index increases
The speed added will ensure the avoidance reliability of high-speed unmanned aerial vehicle.
Correspondingly, every frame unmanned plane is by the repulsion of barrier：
Wherein, Po(xo,yo,zo) it is three-dimensional space position of the barrier under earth axes.
Angle between the flying speed direction and unmanned plane center and the line at barrier center of unmanned plane is smaller, is used for
The barrier repulsion for changing its direction of motion is smaller.
(2) resultant force that each unmanned plane is subject to is calculated.The resultant force that single rack unmanned plane is subject in avoidance is equal to other in formation
The resultant force of the repulsion of active force, the gravitation that target point generates and barrier generation that unmanned plane generates, as shown in formula (11)：
(3) objective speed vector is defined.The gradient of potential field defines the velocity field for acting on each unmanned plane, Artificial Potential Field
Avoidance is realized by adjusting the velocity vector of each unmanned plane, and therefore, objective speed vector is directly defined as：
The resultant force that unmanned plane is subject to is decomposed into three-dimensional all directions (under earth axes), obtains each unmanned plane three-dimensional each
Desired speed on direction, as shown in formula (13), (14), (15)：
Wherein, Vi x, Vi y, Vi zRespectively unmanned plane i is in three-dimensional x, y, the speed on the directions z,Respectively
Unmanned plane j is in three-dimensional x, y, the speed on the directions z, xijFor setting unmanned plane i and j in the direction of the x axis at a distance from, yijTo set
Fixed unmanned plane i and j in the y-axis direction at a distance from, zijFor setting unmanned plane i and j in the z-axis direction at a distance from.
(4) desired speed by unmanned plane in all directions is converted to the target flight control instruction of each unmanned plane.It is described
Target flight control instruction be：
Wherein,Respectively flying speed instruction, course angle instruction and yaw angle instruction.
(5) each unmanned plane during flying state is adjusted to keep unmanned plane by inputting the target flight control instruction of each unmanned plane
Flight pattern and the flight track progress avoidance for changing unmanned plane formation, the above situation include：
If (a) the distance between neighbours' unmanned plane is more than or less than setpoint distance, is instructed and adjusted by input control
The state of flight of unmanned plane, distance is decreased or increased between making machine, until reaching tail clearance requirement；
(b) when detecting barrier in safe distance, then the flight shape of adjustment unmanned plane is instructed by input control
State changes the whole flight track of formation with avoidance, to meet practical flight requirement to keep rank；
(c) when the coverage of barrier is left in unmanned plane formation and meets formation constraint, unmanned plane can be formed into columns
Regard an entirety as, only by the gravitation of target point, constantly flies to target point close.
Embodiment 2 carries out emulation experiment verification to inventive control algorithm.
Assuming that forming formation by three frame unmanned planes carries out avoidance, the Communication topology by taking the formation of three frame unmanned planes as an example is such as
Shown in Fig. 4, the original state and simulation parameter of each unmanned plane are as follows：
1. each unmanned plane original state of table
The physical limit of 2. unmanned plane of table
Simulation parameter is as follows：
k1=1；k2=0.01；k3=1；k4=16；δ=5；ρiomin=3；kv=1.3；kη=6.
Experiment 1：Continuous obstacle validity simulating, verifying
Three frame unmanned planes in the initial state, target point (300,300,300).In flying for unmanned plane target point
Different size of three static-obstacle things are provided on walking along the street diameter.1 position of barrier is (71,75,70), radius 10m, obstacle
2 position of object is (143,151,147), radius 15m, and 3 position of barrier is (207,203,211), radius 20m.It is required that nothing
Man-machine flight pattern is the isosceles right triangle for being waist length with 10.It is converted to using multiple no-manned plane collaboration formation obstacle avoidance algorithm
Flying speed instruction (formula 16), pitch command (formula 17) and course angle instruction (formula 18) obtain simulation result, such as Figures 5 and 6 institute
Show.
In order to facilitate the formation variation that observation unmanned plane is formed into columns, the position of three frame unmanned plane of synchronization is chosen.It can from Fig. 5
To find out, unmanned plane, which is formed into columns, not to be completed also to form into columns when detecting barrier 1, and 1 course angle of unmanned plane first changes, handed over by information
After mutually, unmanned plane 2,3 starts to change course.But form and keep of short duration formation after flying over barrier 1.As shown in Figure 5, hide
When obstacle avoidance object 2, unmanned plane flight pattern is changed, but restores flight pattern rapidly after flying over barrier 2.From Fig. 6
In as can be seen that in third time avoidance, the course angular response basic synchronization of three frame unmanned planes, when avoidance, also maintains formation team
Shape.To sum up, formation collaborative obstacle avoidance can be achieved in unmanned aerial vehicle group under inventive control algorithm, and inventive control algorithm is effective.
Experiment 2：Formation avoidance obstacle algorithm simulating is verified under the conditions of slype
Two barriers extremely closed on, position are set near certain position in the path of UAV Formation Flight target point
It is (162.5,188,200) and (188,162.5,200) respectively, barrier radius is 15m, and between unmanned plane formation most
Distance is 14.14m between big machine, it follows that must carry out cooperation avoidance between unmanned plane, simulation result is as shown in Figure 7.
From figure 7 it can be seen that three frame unmanned planes can successfully pass through from the slype between two barriers, nobody
Although machine formation in avoidance is changed, flies over and restored former flight pattern after barrier rapidly.It can be seen that this hair
Bright control algolithm can make the collaborative height of the formation of unmanned plane, flexibility good, and to the adaptable of environment, unmanned plane is formed into columns
Overall performance goes out the intelligent of group's avoidance.And in traditional artificial potential field avoidance obstacle algorithm, when the adjacent closer obstacle of appearance
When object, unmanned plane, which is formed into columns, may be because that the stop motion of local minimum problem or unmanned plane formation can select respective avoidance, fly
Restore flight pattern after crossing barrier.
In short, multiple no-manned plane collaboration formation avoidance obstacle algorithm proposed by the present invention can complete the association to multiple UAVs
It is better than having method with the testing result of formation avoidance obstacle and this method, it can be under conditions of environment allows with formation team
Shape avoiding barrier, it is more flexible effective.For the autonomous Harmonic Control of multiple no-manned plane formation avoidance, the present invention, which controls, to be calculated
Method coordinates the formation holding task inside unmanned plane and external avoidance task, show neighbouring interactivity, group's stability and
The features such as environmental suitability, reaches the controls requirements such as the autonomous of unmanned plane cluster formation, coordination and intelligence.
Only as described above, only specific embodiments of the present invention, when the model that cannot be limited the present invention with this and implement
It encloses, therefore the displacement of its equivalent assemblies, or according to equivalent variations made by scope of patent protection of the present invention and modification, all should still belong to this hair
The scope that bright claims are covered.
Claims (9)
1. a kind of control algolithm of multiple no-manned plane collaboration formation avoidance, which is characterized in that include the following steps：
(1) when unmanned plane forms into columns and executes aerial mission, the position of unmanned plane and spatial domain barrier is detected by airborne sensor
It sets, velocity information, and the barrier in flight space is abstracted into sphere；
(2) unmanned plane formation communication topology is built according to the location information of each unmanned plane, and is realized using distributed transmission mode
The information exchange between neighbours' unmanned plane in formation；
(3) unmanned plane kinetic model is established；
(4) when an obstacle is detected, determine the safe distance of unmanned plane avoidance, and judge during unmanned plane is formed into columns it is arbitrary nobody
Whether the spacing between machine and barrier meets the requirement of safe distance, if not meeting, is formed into columns by fictitious force Developing Tactics
Formation simultaneously carries out avoidance, wherein shown in the safe distance of unmanned plane avoidance such as formula (7)：
Wherein, RoAnd RiRespectively barrier radius and unmanned plane itself radius, δ expressions have needed for information uncertainty
Safe distance, η indicate the angle between the flying speed direction and unmanned plane center and the line at barrier center of unmanned plane, kv
And kηThe control parameter of relative velocity and angle is respectively adjusted,Indicate the opposite of unmanned plane and barrier
Movement velocity, Vi(t) and Vo(t) indicate respectively unmanned plane and moving obstacle t moment speed, when barrier is static,
2. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 1, which is characterized in that in step (2)
In, the Communication topology is defined asWherein,For limited non-empty node；It indicates to compile
Each unmanned plane in team；The set on side between node indicates that the information between unmanned plane transmits state；Indicate connection weight matrix, aijIt indicates from unmanned plane node i to the connection weight of unmanned plane node j, if there is
Information is from νjIt is transmitted to νi, then νjIt is νiNeighbours' unmanned plane, a at this timeij=1, otherwise aij=0；νiThe collection of neighbours be combined into
3. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 1, which is characterized in that in step (4)
In, the fictitious force strategy includes the following steps：
(1) it forms into columns to unmanned plane and carries out force analysis, including solve each unmanned plane by other unmanned planes in the formation
Active force, target point in the formation each unmanned plane generate gravitation and barrier in the formation it is each nobody
The repulsion that machine generates；
(2) resultant force that each unmanned plane is subject to is calculated；
(3) objective speed amount is defined, and calculates desired speed of each unmanned plane on ground coordinate three-dimensional；
(4) desired speed of each unmanned plane in all directions is converted to the target flight control instruction of each unmanned plane；
(5) each unmanned plane during flying state is adjusted to keep unmanned plane to form into columns by inputting the target flight control instruction of each unmanned plane
Formation and the flight track progress avoidance for changing unmanned plane formation.
4. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 3, which is characterized in that in step (1)
In, each unmanned plane is by the active force of other unmanned planes in the formation：
Wherein, k1And k2It is the normal number for controlling flight pattern and controlling the collaboration of formation flight speed, P respectivelyi(xi,yi,zi) and Pj
(xj,yj,zj) it is respectively the three-dimensional space position of unmanned plane i, j under earth axes, rijIndicate setting unmanned plane i and j it
Between space length, ViAnd VjThe flying speed of unmanned plane i, j are indicated respectively.
5. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 3, which is characterized in that in step (1)
In, the gravitation that the target point generates each unmanned plane in the formation is：
Wherein,For shown in formula (6)：
Wherein, k3It is the direct proportion gain coefficient of gravitation potential field, Pt(xt,yt,zt) it is three-dimensional of the target point under earth axes
Spatial position, ρit=║ Pt-Pi║ indicates that the space length , ║ ║ between unmanned plane i and target point t represent L2Norm.
6. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 3, which is characterized in that in step (1)
In, the repulsion that the barrier generates each unmanned plane in the formation is：
Wherein, k4It is the direct proportion gain coefficient of repulsion potential field, c is adjustable control parameter, ρioIndicate unmanned plane i and obstacle
The distance between object, ρiominIndicate the minimum safe distance between unmanned plane and barrier, Po(xo,yo,zo) be barrier on ground
Three-dimensional space position under areal coordinate system.
7. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 3, which is characterized in that in step (2)
In, the resultant force that each unmanned plane is subject to is equal to the gravitation that the active force, target point that other unmanned planes generate in formation generate
The resultant force of the repulsion generated with barrier, as shown in formula (11)：
8. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 3, which is characterized in that in step (3)
In, the objective speed amount is defined as follows：
Total fictitious force that unmanned plane is subject to is decomposed into three-dimensional all directions, each unmanned plane is distinguished in the speed of three-dimensional all directions
As shown in formula (13), (14), (15)：
Wherein, Vi x, Vi y, Vi zRespectively unmanned plane i is in three-dimensional x, y, the speed on the directions z,Respectively nobody
Machine j is in three-dimensional x, y, the speed on the directions z, xijFor setting unmanned plane i and j in the direction of the x axis at a distance from, yijFor setting
Unmanned plane i and j in the y-axis direction at a distance from, zijFor setting unmanned plane i and j in the z-axis direction at a distance from.
9. the control algolithm of multiple no-manned plane collaboration formation avoidance according to claim 3, which is characterized in that in step (4)
In, the target flight control instruction is：
Wherein, Vi c,Respectively flying speed instruction, course angle instruction and yaw angle instruction.
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