基于邻域跟随与辨识的无人机集群控制与规避策略

针对已有方法在集群系统控制上的特点,采取融合和改进的手段首先研究了三维空间理想全通信条件下的集群控制问题,通过将局部规则与势场法融合产生了一种新的引力斥力函数,并结合软控制方法成功实现无人机的聚集和集群的飞行控制,对未知突发障碍在有限区域感知的基础上提出了应急避障策略;接着,针对电磁环境只有部分无人机能正常接收航迹信息的情况,采用“邻域辨识”的方法选定目标无人机进行跟随,实现期望的集群运动。仿真结果表明,提出的方法在控制集群运动方面灵活性强、一致性好、避障效果显著。

Strategy of control and avoidance of UAVs based on neighborhood tracking and identification

In order to solve the problem of cluster control under three-dimensional and ideal all-communication conditions, this paper combines the local rule and the potential field method to produce a new gravitational repulsion function based on the characteristics of existing methods in cluster system control, and combines with the soft control method to achieve the individual aggregation and cluster flight control. Meanwhile, on the basis of limited visual perception, the obstacle avoidance strategy of the emergency avoidance strategy is proposed. Because only part of the individuals could receive the track information under the electromagnetic environment, the neighborhood identification method is used to select the target individual to follow, in order to achieve the desired cluster movement. The simulation results show that the proposed method has the advantages of strong flexibility, good consistency and effeciency in obstacle avoidance in controlling the cluster movement.