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基于诱导航线的多无人机编队飞行控制方法

吴俊成 周锐 董卓宁 车军

吴俊成, 周锐, 董卓宁, 等 . 基于诱导航线的多无人机编队飞行控制方法[J]. 北京航空航天大学学报, 2016, 42(7): 1518-1525. doi: 10.13700/j.bh.1001-5965.2015.0458
引用本文: 吴俊成, 周锐, 董卓宁, 等 . 基于诱导航线的多无人机编队飞行控制方法[J]. 北京航空航天大学学报, 2016, 42(7): 1518-1525. doi: 10.13700/j.bh.1001-5965.2015.0458
WU Juncheng, ZHOU Rui, DONG Zhuoning, et al. Formation flight control method of multiple UAVs based onguidance route[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(7): 1518-1525. doi: 10.13700/j.bh.1001-5965.2015.0458(in Chinese)
Citation: WU Juncheng, ZHOU Rui, DONG Zhuoning, et al. Formation flight control method of multiple UAVs based onguidance route[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(7): 1518-1525. doi: 10.13700/j.bh.1001-5965.2015.0458(in Chinese)

基于诱导航线的多无人机编队飞行控制方法

doi: 10.13700/j.bh.1001-5965.2015.0458
基金项目: 国家自然科学基金(61273349,61175109,61203223);航空科学基金(2013ZA18001,2014ZA18004)
详细信息
    作者简介:

    吴俊成 男,硕士研究生。主要研究方向:无人机编队飞行控制。E-mail: wujc2013@163.com;周锐 男,博士,教授,博士生导师。主要研究方向:多无人机协同控制与智能决策。Tel.: 010-82339232 E-mail: zhr@buaa.edu.cn

    通讯作者:

    周锐,Tel.: 010-82339232 E-mail: zhr@buaa.edu.cn

  • 中图分类号: V279

Formation flight control method of multiple UAVs based onguidance route

  • 摘要: 针对无人机编队飞行控制问题,提出了一种基于诱导航线的协同控制方法,僚机根据当前相对于期望位置的误差和长机的飞行状态生成诱导航线并进行跟踪;针对飞行过程中的突发障碍采用改变编队队形的方法进行规避;针对无人机之间可能出现的碰撞情况,根据无人机到达碰撞点的时间以及位置分别从高度以及航向两方面进行躲避,仿真结果表明:采用此方法无人机能够保持稳定的编队,并同时能够躲避飞行过程中的障碍以及避免飞机之间的碰撞。

     

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出版历程
  • 收稿日期:  2015-07-08
  • 网络出版日期:  2016-07-20

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