基于层次分解策略无人机编队避障方法

针对危险模式下无人机编队问题,提出基于层次分解策略的编队避障方法.通过构建Voronoi图,利用K路径算法为各无人机找到多条备选航路;然后建立协同函数,为各无人机规划出既能满足时间协同要求,又能满足整体代价最优(次优)的障碍物规避航迹.并设计了无人机编队的通行规则,解决了无人机在避障飞行过程中有可能产生的碰撞冲突问题.仿真结果验证了算法的有效性.

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

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.