基于模型预测控制的多无人机避碰航迹规划研究 -- 西北工业大学学报,2017,35(3):513-522
论文:2017,Vol:35,Issue(3):513-522
引用本文:
李相民, 薄宁, 代进进. 基于模型预测控制的多无人机避碰航迹规划研究[J]. 西北工业大学学报
Li Xiangmin, Bo Ning, Dai Jinjin. Study on Collision Avoidance Path Planning for Multi-UAVs Based on Model Predictive Control[J]. Northwestern polytechnical university

基于模型预测控制的多无人机避碰航迹规划研究
李相民, 薄宁, 代进进
海军航空工程学院, 山东 烟台 264001
摘要:
针对无人机编队内避碰问题,提出一种可实时机间避碰以及多碰撞冲突管理的多无人机协同航迹规划方案。通过对UAV编队避碰问题进行分析,采用分布式模型预测控制(decentralized model predictive control,DMPC)方法,将其转换为滚动在线优化问题。设计了避碰管理单元,采用交互图更新机制解决多碰撞管理问题,运用基于角度变化的协同避碰规则,解决了分布式避碰问题的动作一致性问题。仿真结果表明,该方案可以有效解决4架无人机间多碰撞冲突问题,同时代价更小。
关键词:    DMPC    无人机    避碰    航迹规划    交互图   
Study on Collision Avoidance Path Planning for Multi-UAVs Based on Model Predictive Control
Li Xiangmin, Bo Ning, Dai Jinjin
Naval Aeronautical and Astronautical University, Yantai 264001, China
Abstract:
To solve the collision avoidance problem of multiple Unmanned Aerial Vehicles(UAVs), a cooperative path planning scheme for UAVs with collision avoidance and multi-collision avoidance management is proposed. Based on the analysis of the collision avoidance problem, decentralized model predictive control(DMPC) is used to transform the collision avoidance problem into receding horizon control. To manage multiple collisions of each UAV, collision management unit is designed and reaction graph is presented. Rule for cooperative collision avoidance based on angle changing are put forward to solve the action consistency problem. The simulation results show that the proposed scheme can solve the multiple collisions problem of UAVs with lower costs.
Key words:    controllers    MATLAB    model predictive control (MPC)    unmanned aerial vehicles (UAV)   
收稿日期: 2017-03-01     修回日期:
DOI:
基金项目: 航空科学基金(20135184008)资助
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作者简介: 李相民(1965-),海军航空工程学院教授,主要从事武器装备与作战指挥一体化技术研究。
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