基于NMPC的无人机自主防撞控制方法

针对非合作条件下的无人机自主防相撞控制问题,在分析无人机与入侵飞机在三维空间几何关系的基础上,提出并证明了相撞冲突判决准则,定义最小间隔和剩余冲突消解时间衡量无人机与多入侵飞行器间的冲突紧急程度,建立了无人机自主防撞最优控制模型。基于非线性模型预测控制方法建立三维空间无人机自主防撞控制算法,运用剪枝搜索方法提高算法求解时效性。仿真实验表明,所提算法实现多无人机高动态环境下的防撞控制,能够有效降低无人机飞行安全威胁。

UAV autonomous collision avoidance control method based on NMPC

Aimed at solving the unmanned aerial vehicle (UAV) autonomous collision avoidance problem in the noncooperation environment, a 3D UAV collision avoidance control algorithm is designed. Based on analyzing the spatial relationship of UAV and intruders, a collision measure rule is proved， and the minimum interval and residual conflict resolution time are defined to measure conflict emergency between UAV and intruders. According to the collision measure rule, a UAV collision avoidance decision model is established based on the nonlinear model predictive control (NMPC) algorithm. In order to solve the collision avoidance model effectively, a cut-off search method is designed. The simulations show that, the proposed algorithm can implement UAV collision avoidance in noncooperation environment, has fast performance and less computation, and can reduce the UAV collision danger effectively.