CN113589839A - Unmanned aerial vehicle automatic collision avoidance method based on rapid finite time convergence sliding mode guidance - Google Patents

Unmanned aerial vehicle automatic collision avoidance method based on rapid finite time convergence sliding mode guidance Download PDF

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CN113589839A
CN113589839A CN202110780431.4A CN202110780431A CN113589839A CN 113589839 A CN113589839 A CN 113589839A CN 202110780431 A CN202110780431 A CN 202110780431A CN 113589839 A CN113589839 A CN 113589839A
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collision avoidance
unmanned aerial
machine
collision
aerial vehicle
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张宁
尹玉国
郭琪
姜棋
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SHANDONG START MEASUREMENT CONTROL EQUIPMENT CO Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G05D1/1064—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones specially adapted for avoiding collisions with other aircraft

Abstract

The application discloses an unmanned aerial vehicle automatic collision avoidance method based on rapid finite time convergence sliding mode guidance, wherein in the normal flight process of an unmanned aerial vehicle, the automatic collision avoidance method detects whether the two unmanned aerial vehicles collide according to collision cones of an intrusion machine and a collision avoidance machine, and if the two unmanned aerial vehicles do not collide, the unmanned aerial vehicle continues to normally fly; and if the collision of two unmanned planes is detected, generating a fast finite time convergence sliding mode guide instruction to carry out automatic collision avoidance flight control, simultaneously calculating collision avoidance completion time, and when the estimated collision avoidance completion time is reached, finishing collision avoidance, and enabling the collision avoidance machine to enter a normal flight mode and fly to a target point. Has the following advantages: the method has the characteristic of rapid finite time convergence, realizes that the collision avoidance system can rapidly converge in finite time, and solves the problems that the stability of the system is difficult to ensure and the automatic collision avoidance completion time is difficult to accurately estimate by the conventional automatic collision avoidance method.

Description

Unmanned aerial vehicle automatic collision avoidance method based on rapid finite time convergence sliding mode guidance
Technical Field
The invention belongs to the technical field of flight control of unmanned aerial vehicles, and particularly relates to an automatic collision avoidance method of an unmanned aerial vehicle based on rapid finite time convergence sliding mode guidance.
Background
Sliding mode control is mainly applied to the field of missile interception at present, and is less applied to the aspect of collision avoidance control of an unmanned aerial vehicle. And the traditional sliding mode control has the buffeting defect, is easy to enter a dead zone, and cannot completely realize collision avoidance, and the sliding mode control with limited time convergence at present has the possibility of low convergence speed, so that the sliding mode control cannot be applied to the problem of rapid collision avoidance of the unmanned aerial vehicle.
In the research of the aspect of collision avoidance of the unmanned aerial vehicle, the core thought is as follows: the method comprises the steps of firstly detecting possible collision through a collision avoidance detection method, then generating a guide instruction to guide an attitude controller of the unmanned aerial vehicle to carry out flight control by adopting a proper collision avoidance method, and carrying out collision avoidance flight under certain performance indexes and constraints.
Disclosure of Invention
The invention provides an unmanned aerial vehicle automatic collision avoidance method based on rapid finite time convergence guidance, which aims to solve the problems that the conventional sliding mode control is less applied in the field of unmanned aerial vehicle collision avoidance, the sliding mode control easily causes system oscillation, the conventional automatic collision avoidance method is difficult to ensure the stability of the system and accurately estimate the automatic collision avoidance completion time, and the collision avoidance system can rapidly converge in finite time.
In order to solve the technical problems, the invention adopts the following technical scheme:
the automatic collision avoidance method of the unmanned aerial vehicle based on rapid finite time convergence sliding mode guidance detects whether the two unmanned aerial vehicles collide according to collision cones of an intrusion machine and a collision avoidance machine in the normal flight process of the unmanned aerial vehicle, and if the two unmanned aerial vehicles do not collide, the unmanned aerial vehicle continues to normally fly; and if the collision of two unmanned planes is detected, generating a fast finite time convergence sliding mode guide instruction to carry out automatic collision avoidance flight control, simultaneously calculating collision avoidance completion time, and when the estimated collision avoidance completion time is reached, finishing collision avoidance, and enabling the collision avoidance machine to enter a normal flight mode and fly to a target point.
Further, the method comprises the following steps:
step one, collision detection based on the relative geometric relationship between a collision avoidance machine and an intrusion machine;
step two: generating collision avoidance instructions and controlling flight of the unmanned aerial vehicle based on rapid finite time convergence sliding mode guidance;
step three: calculating the automatic collision avoidance completion time of the unmanned aerial vehicle;
step four: detecting whether collision avoidance is completed;
detecting whether the flight time reaches the estimated collision avoidance completion time of the unmanned aerial vehicle, if so, executing a fifth step, and if not, continuing to execute a second step;
step five: and the collision avoidance machine enters a normal flight mode and continuously flies to the target point.
Further, in the first step, the collision avoidance machine flies to the target point along the predetermined normal flight track in the initial state, and the flight state information of the collision avoidance machine and the intrusion machine is obtained by using the airborne sensor of the collision avoidance machine, wherein the flight state information includes the initial position (x) of the collision avoidance machine0，y0) Flight speed V and heading angle psi (t), position of the intruding machine (x)OB，yOB) Velocity VOBAnd heading angle psiOBAnd obtaining the relative distance R of the two unmanned aerial vehicles according to the relative geometric relationship between the collision avoidance machine and the intrusion machineT(t), as shown in equation 1:
Figure BDA0003156574610000021
set collision avoidance safety distance RsThen the distance R between the collision avoidance machine and the boundary point of the collision coneb(t) is shown in equation 2:
Figure BDA0003156574610000022
collision avoidance machine and invader relative speed Vret(t) is shown in equation 3:
Vrel(t)＝Vcos(ψrel-ψ(t))+VOB cos(π+ψOB-ψrel(t)) formula 3;
wherein psirel(t) is the relative speed azimuth angle of the collision avoidance machine and the invader, as shown in equation 4:
Figure BDA0003156574610000023
the line-of-sight angle λ (t) is shown in equation 5:
Figure BDA0003156574610000031
the difference epsilon (t) between the azimuth angle of relative velocity and the line-of-sight angle is shown in equation 6:
ε(t)＝|λ(t)-ψrel(t)|
equation 6;
given a safety distance RsThen, the half-vertex angle θ (t) of the collision cone can be obtained, as shown in equation 7:
Figure BDA0003156574610000032
the collision cone lower boundary angle μ (t) is shown in equation 8:
μ (t) ═ λ (t) - θ (t) is given by formula 8.
Further, the motion model of the drone in the step one is shown in equation 9:
Figure BDA0003156574610000033
wherein the content of the first and second substances,
Figure BDA0003156574610000034
derivative of distance between collision avoidance machine and boundary point of collision cone, VrIs the velocity component, V, of the collision avoidance machine along the collision cone boundaryμIs the speed component of the collision avoidance machine perpendicular to the boundary of the collision cone and the angular rate of the boundary of the collision cone
Figure BDA0003156574610000035
As shown in equation 10:
Figure BDA0003156574610000036
wherein the content of the first and second substances,
Figure BDA0003156574610000037
as the rate of change of the relative velocity, as shown in equation 11:
Figure BDA0003156574610000038
when the relative velocity Vrel(t) within the collision cone, i.e. the absolute value of the deviation of the azimuth angle of the relative velocity from the line of sight angle is smaller than the half apex angle of the collision cone, the formula is | lambda (t) -psirel(t) | epsilon (t) | < theta (t), the two nobody will collide, and step two is executed; and if the absolute value of the deviation of the speed azimuth angle and the line-of-sight angle is greater than or equal to the half-vertex angle of the collision cone, executing a step five.
Further, when a collision between the collision avoidance machine and the intrusion machine is detected in the second step, the computer first generates a fast finite time convergence sliding mode guidance instruction a (t), as shown in formula 12:
Figure BDA0003156574610000041
wherein N is a positive guidance coefficient, and N is more than 2; d (t) is the disturbance of collision avoidance system, which can be estimated by nonlinear state observer, where σ and β are constants, 0 < σ < 1, β > 0,
Figure BDA0003156574610000049
is the lower boundary angular velocity of the collision cone.
Further, when the second step is executed, the time for the unmanned aerial vehicle to complete collision avoidance is estimated, and the estimation process of the automatic collision avoidance completion time of the unmanned aerial vehicle in the third step is as follows:
step 1: estimating the rolling maneuvering time of the collision avoidance machine; firstly, the initial collision avoidance state of the collision avoidance machine is calculated, and the initial lower boundary angular velocity value of the collision cone can be calculated through the formula 10
Figure BDA0003156574610000042
Calculating R by formula 1 and formula 2b(0) The rolling maneuver time of the collision avoidance machine
Figure BDA0003156574610000043
As shown in equation 13:
Figure BDA0003156574610000044
step 2:
Figure BDA0003156574610000045
after the moment, the collision avoidance machine keeps the current course to linearly fly at a constant speed to the intersection point of the tracks of the two unmanned aerial vehicles, and the time for the collision avoidance machine to linearly fly is
Figure BDA0003156574610000046
The solving process is as follows:
firstly, solving the track intersection point coordinates
Figure BDA0003156574610000047
As shown in equation 14:
Figure BDA0003156574610000048
in the formula
Figure BDA0003156574610000051
And
Figure BDA0003156574610000052
is that
Figure BDA0003156574610000053
The position coordinates of the collision avoidance machine at the moment,
Figure BDA0003156574610000054
for unmanned aerial vehicle at
Figure BDA0003156574610000055
The intersection point coordinates (xT, y) of the tracks of the two unmanned aerial vehicles can be obtained by solving the equation set (12) for the course angle of the momentT) Then, the time of the collision avoidance machine performing linear flight is shown in formula 15:
Figure BDA0003156574610000056
the automatic collision avoidance completion time T of the unmanned aerial vehicle is shown in formula 16:
Figure BDA0003156574610000057
by adopting the technical scheme, compared with the prior art, the invention has the following technical effects:
the unmanned aerial vehicle automatic collision avoidance method based on the fast finite time convergence sliding mode guidance can ensure the stability of a collision avoidance system, can complete collision avoidance within fast finite time, and has the collision avoidance convergence time of
Figure BDA0003156574610000058
Compared with the sliding mode guiding method with limited time convergence, the convergence collision avoidance time is shorter, and the system convergence time is the time of the traditional convergence method
Figure BDA0003156574610000059
Wherein beta is more than 0 and alpha is more than 0. The unmanned aerial vehicle automatic collision avoidance method is suitable for collision avoidance conditions of multiple unmanned aerial vehicles, and the automatic collision avoidance completion time estimation method is simple.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flow chart of an automatic collision avoidance method of an unmanned aerial vehicle based on fast finite time convergence sliding mode guidance in the present invention;
FIG. 2 is a geometric diagram of the collision avoidance machine and the intrusion machine according to the present invention;
FIG. 3 is a simulation diagram of an automatic collision avoidance trajectory of an unmanned aerial vehicle according to the present invention;
fig. 4 is a simulation diagram of the automatic collision avoidance distance of the unmanned aerial vehicle in the invention.
Detailed Description
Embodiment 1, as shown in fig. 1 to 4, in an automatic collision avoidance method for an unmanned aerial vehicle based on fast finite time convergence sliding mode guidance, when the unmanned aerial vehicle is in a normal flight process, an intrusion machine and a collision avoidance machine conform to a relative geometric relationship shown in fig. 2, ABCD in fig. 2 is a collision cone, where points a and C are positions of the collision avoidance machine and the intrusion machine, respectively. B. The point D is a collision cone boundary point calculated from the set safe distance Rs. Whether two unmanned aerial vehicles can collide is detected according to the collision awl of invading machine and collision avoidance machine, if not, unmanned aerial vehicle continues normal flight. If the two unmanned aerial vehicles are detected to collide with each other, a fast finite time convergence sliding mode guiding instruction is generated
Figure BDA0003156574610000061
And performing automatic collision avoidance flight control, meanwhile calculating collision avoidance completion time, and when the estimated collision avoidance completion time is reached, finishing collision avoidance, and enabling the collision avoidance machine to enter a normal flight mode and fly to a target point.
The unmanned aerial vehicle automatic collision avoidance method based on the rapid finite time convergence sliding mode guidance comprises the following steps:
step one, collision detection based on the relative geometric relationship between a collision avoidance machine and an intrusion machine;
as shown in fig. 2, the collision avoidance machine flies to the target point along the predetermined normal flight trajectory in the initial state, and the flight state information of the collision avoidance machine and the intrusion machine is obtained by using the onboard sensor of the collision avoidance machine, and the flight state information includes the initial position (x) of the collision avoidance machine0，y0) Flight speed V and heading angle psi (t), position of the intruding machine (x)OB，yOB) Velocity VOBAnd heading angle psiOBAccording to the relative geometrical relationship between the collision avoidance machine and the intrusion machine shown in fig. 2, the relative distance between the two unmanned aerial vehicles is RT(t), as shown in equation 1:
Figure BDA0003156574610000062
the set collision avoidance safe distance Rs is the distance R between the collision avoidance machine and the boundary point of the collision coneb(t) is shown in equation 2:
Figure BDA0003156574610000063
collision avoidance machine and invader relative speed Vrel(t) is shown in equation 3:
Vrel(t)＝Vcos(ψrel-ψ(t))+VOBcos(π+ψOB-ψrel(t)) formula 3.
Wherein psirel(t) is the relative speed azimuth angle of the collision avoidance machine and the invader, as shown in equation 4:
Figure BDA0003156574610000071
the line-of-sight angle λ (t) is shown in equation 5:
Figure BDA0003156574610000072
the difference epsilon (t) between the azimuth angle of relative velocity and the line-of-sight angle is shown in equation 6:
ε(r)＝|λ(t)-ψrel(t)|
equation 6.
Given a safety distance RsThen, the half-vertex angle θ (t) of the collision cone can be obtained, as shown in equation 7:
Figure BDA0003156574610000073
the collision cone lower boundary angle μ (t) is shown in equation 8:
μ (t) ═ λ (t) - θ (t) is given by formula 8.
The motion model of the drone is shown in equation 9:
Figure BDA0003156574610000074
wherein the content of the first and second substances,
Figure BDA0003156574610000075
derivative of distance between collision avoidance machine and boundary point of collision cone, VrIs the velocity component, V, of the collision avoidance machine along the collision cone boundaryμIs the speed component of the collision avoidance machine perpendicular to the boundary of the collision cone and the angular rate of the boundary of the collision cone
Figure BDA0003156574610000076
As shown in equation 10:
Figure BDA0003156574610000077
wherein the content of the first and second substances,
Figure BDA0003156574610000081
as the rate of change of the relative velocity, as shown in equation 11:
Figure BDA0003156574610000082
when the relative velocity Vrel(t) within the collision cone, i.e. the absolute value of the deviation of the azimuth angle of the relative velocity from the line of sight angle is smaller than the half apex angle of the collision cone, the formula is | lambda (t) -psirel(t) | epsilon (t) | < theta (t), the two nobody will collide, and step two is executed; and if the absolute value of the deviation of the speed azimuth angle and the line-of-sight angle is greater than or equal to the half-vertex angle of the collision cone, executing a step five.
Step two: generating collision avoidance instructions and controlling flight of the unmanned aerial vehicle based on rapid finite time convergence sliding mode guidance.
When collision between the collision avoidance machine and the intrusion machine is detected, firstly, the computer generates a sliding mode guidance instruction a (t) with fast finite time convergence, as shown in formula 12:
Figure BDA0003156574610000083
wherein N is a positive guidance coefficient, and N is more than 2; d (t) is the disturbance of collision avoidance system, which can be estimated by nonlinear state observer, where σ and β are constants, 0 < σ < 1, β > 0,
Figure BDA0003156574610000084
is the lower boundary angular velocity of the collision cone.
Step three: and calculating the automatic collision avoidance completion time of the unmanned aerial vehicle.
When the step two is executed, estimating the time for collision avoidance of the unmanned aerial vehicle; the estimation process of the automatic collision avoidance completion time of the unmanned aerial vehicle comprises the following steps:
step 1: estimating the rolling maneuvering time of the collision avoidance machine; firstly, the initial collision avoidance state of the collision avoidance machine is calculated, and the initial lower boundary angular velocity value of the collision cone can be calculated through the formula 10
Figure BDA0003156574610000085
Calculating R by formula 1 and formula 2b(0) The rolling maneuver time of the collision avoidance machine
Figure BDA0003156574610000086
As shown in equation 13:
Figure BDA0003156574610000087
step 2:
Figure BDA0003156574610000088
after the moment, the collision avoidance machine keeps the current course as a uniform straight lineTime for collision avoidance to fly to the intersection point of tracks of two unmanned aerial vehicles and make linear flight
Figure BDA0003156574610000091
The solving process is as follows:
firstly, solving the track intersection point coordinates
Figure BDA0003156574610000092
As shown in equation 14:
Figure BDA0003156574610000093
in the formula
Figure BDA0003156574610000094
And
Figure BDA0003156574610000095
is that
Figure BDA0003156574610000096
The position coordinates of the collision avoidance machine at the moment,
Figure BDA0003156574610000097
for unmanned aerial vehicle at
Figure BDA0003156574610000098
The intersection point coordinate (x) of the tracks of the two unmanned aerial vehicles can be obtained by solving the equation set (12) for the course angle of the momentT,yT) Then, the time of the collision avoidance machine performing linear flight is shown in formula 15:
Figure BDA0003156574610000099
the automatic collision avoidance completion time T of the unmanned aerial vehicle is shown in formula 16:
Figure BDA00031565746100000910
step four: and detecting whether collision avoidance is finished.
Detecting whether the flight time reaches the estimated collision avoidance completion time T of the unmanned aerial vehicle, if so, executing a fifth step, and if not, continuing to execute a second step;
step five: the collision avoidance aircraft enters a normal flight mode.
The collision avoidance machine continuously flies to a target point, and fig. 3 and 4 are simulation diagrams of automatic collision avoidance of the unmanned aerial vehicle based on rapid finite time convergence sliding mode guidance.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (10)

1. An unmanned aerial vehicle automatic collision avoidance method based on rapid finite time convergence sliding mode guidance is characterized in that: the automatic collision avoidance method detects whether the two unmanned aerial vehicles collide according to collision cones of the intrusion machine and the collision avoidance machine in the normal flight process of the unmanned aerial vehicles, and if the two unmanned aerial vehicles do not collide, the unmanned aerial vehicles continue to fly normally; and if the collision of two unmanned planes is detected, generating a fast finite time convergence sliding mode guide instruction to carry out automatic collision avoidance flight control, simultaneously calculating collision avoidance completion time, and when the estimated collision avoidance completion time is reached, finishing collision avoidance, and enabling the collision avoidance machine to enter a normal flight mode and fly to a target point.
2. The unmanned aerial vehicle automatic collision avoidance method based on the fast finite time convergence sliding mode guidance as claimed in claim 1, wherein: the method comprises the following steps:
step one, collision detection based on the relative geometric relationship between a collision avoidance machine and an intrusion machine;
step two: generating collision avoidance instructions and controlling flight of the unmanned aerial vehicle based on rapid finite time convergence sliding mode guidance;
step three: calculating the automatic collision avoidance completion time of the unmanned aerial vehicle;
step four: detecting whether collision avoidance is completed;
detecting whether the flight time reaches the estimated collision avoidance completion time of the unmanned aerial vehicle, if so, executing a fifth step, and if not, continuing to execute a second step;
step five: and the collision avoidance machine enters a normal flight mode and continuously flies to the target point.
3. The unmanned aerial vehicle automatic collision avoidance method based on the fast finite time convergence sliding mode guidance as claimed in claim 1, wherein: in the first step, the collision avoidance machine flies to a target point along a preset normal flight track in an initial state, and flight state information of the collision avoidance machine and the intrusion machine is obtained by utilizing an airborne sensor of the collision avoidance machine, wherein the flight state information comprises an initial position (x) of the collision avoidance machine0,y0) Flight speed V and heading angle psi (t), position of the intruding machine (x)OB,yOB) Velocity VOBAnd heading angle psiOBAnd obtaining the relative distance R of the two unmanned aerial vehicles according to the relative geometric relationship between the collision avoidance machine and the intrusion machineT(t), as shown in equation 1:
Figure FDA0003156574600000011
the set collision avoidance safe distance Rs is the distance R between the collision avoidance machine and the boundary point of the collision coneb(t) is shown in equation 2:
Figure FDA0003156574600000021
4. the unmanned aerial vehicle automatic collision avoidance method based on fast finite time convergence sliding mode guidance of claim 3, characterized in that: the collision avoiding machine and the invader have relative speed V in the step onerel(t) is shown in equation 3:
Vrel(t)＝Vcos(ψrel-ψ(t))+VOBcos(π+ψOB-ψrel(t)) formula 3;
wherein psirel(t) is the relative speed azimuth angle of the collision avoidance machine and the invader, as shown in equation 4:
Figure FDA0003156574600000022
5. the unmanned aerial vehicle automatic collision avoidance method based on fast finite time convergence sliding mode guidance of claim 4, characterized in that: the viewing angle λ (t) in the first step is shown in equation 5:
Figure FDA0003156574600000023
the difference epsilon (t) between the azimuth angle of relative velocity and the line-of-sight angle is shown in equation 6:
ε(t)＝|λ(t)-ψrel(t) | equation 6.
6. The unmanned aerial vehicle automatic collision avoidance method based on fast finite time convergence sliding mode guidance of claim 5, characterized in that: giving a safety distance R in the step oneSThen, the half-vertex angle θ (t) of the collision cone can be obtained, as shown in equation 7:
Figure FDA0003156574600000024
the collision cone lower boundary angle μ (t) is shown in equation 8:
μ (t) ═ λ (t) - λ (t) equation 8.
7. The unmanned aerial vehicle automatic collision avoidance method based on fast finite time convergence sliding mode guidance of claim 6, characterized in that: the motion model of the unmanned aerial vehicle in the first step is shown as formula 9:
Figure FDA0003156574600000031
wherein the content of the first and second substances,
Figure FDA0003156574600000032
derivative of distance between collision avoidance machine and boundary point of collision cone, VrIs the velocity component, V, of the collision avoidance machine along the collision cone boundaryμIs the speed component of the collision avoidance machine perpendicular to the boundary of the collision cone and the angular rate of the boundary of the collision cone
Figure FDA0003156574600000033
As shown in equation 10:
Figure FDA0003156574600000034
wherein the content of the first and second substances,
Figure FDA0003156574600000035
as the rate of change of the relative velocity, as shown in equation 11:
Figure FDA0003156574600000036
when the relative velocity Vrel(t) within the collision cone, i.e. the absolute value of the deviation of the azimuth angle of the relative velocity from the line of sight angle is smaller than the half apex angle of the collision cone, the formula is | lambda (t) -psirel(t) | epsilon (t) | < theta (t), the two nobody will collide, and step two is executed; and if the absolute value of the deviation of the speed azimuth angle and the line-of-sight angle is greater than or equal to the half-vertex angle of the collision cone, executing a step five.
8. The unmanned aerial vehicle automatic collision avoidance method based on the fast finite time convergence sliding mode guidance as claimed in claim 1, wherein: when the collision between the collision avoidance machine and the intrusion machine is detected in the second step, firstly, the computer generates a fast finite time convergence sliding mode guiding instruction a (t), as shown in formula 12:
Figure FDA0003156574600000037
wherein N is a positive guidance coefficient, and N is more than 2; d (t) is the disturbance of collision avoidance system, which can be estimated by nonlinear state observer, where σ and β are constants, 0 < σ < 1, β > 0,
Figure FDA0003156574600000038
is the lower boundary angular velocity of the collision cone.
9. The unmanned aerial vehicle automatic collision avoidance method based on the fast finite time convergence sliding mode guidance as claimed in claim 1, wherein: when the second step is executed, the time for the unmanned aerial vehicle to finish collision avoidance is estimated, and the estimation process of the automatic collision avoidance finish time of the unmanned aerial vehicle in the third step comprises the following steps:
step 1: estimating the rolling maneuvering time of the collision avoidance machine; firstly, the initial collision avoidance state of the collision avoidance machine is calculated, and the initial lower boundary angular velocity value of the collision cone can be calculated through the formula 10
Figure FDA0003156574600000041
Calculating R by formula 1 and formula 2b(0) The rolling maneuver time of the collision avoidance machine
Figure FDA0003156574600000042
As shown in equation 13:
Figure FDA0003156574600000043
10. the unmanned aerial vehicle automatic collision avoidance method based on fast finite time convergence sliding mode guidance of claim 9, characterized in that: the process for estimating the automatic collision avoidance completion time of the unmanned aerial vehicle in the third step further comprises the following steps:
step 2:
Figure FDA0003156574600000044
after the moment, the collision avoidance machine keeps the current course to linearly fly at a constant speed to the intersection point of the tracks of the two unmanned aerial vehicles, and the time for the collision avoidance machine to linearly fly is
Figure FDA0003156574600000045
The solving process is as follows:
firstly, solving the track intersection point coordinates
Figure FDA0003156574600000046
As shown in equation 14:
Figure FDA0003156574600000047
in the formula
Figure FDA0003156574600000048
And
Figure FDA0003156574600000049
is that
Figure FDA00031565746000000410
The position coordinates of the collision avoidance machine at the moment,
Figure FDA00031565746000000411
for unmanned aerial vehicle at
Figure FDA00031565746000000412
The intersection point coordinate (x) of the tracks of the two unmanned aerial vehicles can be obtained by solving the equation set (12) for the course angle of the momentT,yT) The time of the collision avoidance machine for linear flight is shown in formula 15：
Figure FDA00031565746000000413
The automatic collision avoidance completion time T of the unmanned aerial vehicle is shown in formula 16:
Figure FDA0003156574600000051
CN202110780431.4A 2021-07-09 2021-07-09 Unmanned aerial vehicle automatic collision avoidance method based on rapid finite time convergence sliding mode guidance Withdrawn CN113589839A (en)

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