Autonomous reconfiguration control method for multi-UAV formation based on RQPSO-DMPC
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摘要:
针对敌方防御区域内各种威胁，为了实现隐蔽突防并实施对敌有效打击，在突防过程中多无人机（UAV）编队需要进行重构控制，并且编队内的相互避碰问题与通信约束问题也需考虑。通过建立无人机虚拟领航编队模型并引入邻居集，采用分布式模型预测控制（DMPC）同时构建多无人机编队的重构代价函数，提出采用改进量子粒子群优化（RQPSO）算法进行求解，并将求解结果与采用粒子群优化算法的结果进行对比。仿真结果表明，本文算法能够有效控制多无人机编队完成自主重构，实现安全隐蔽突防任务。
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关键词:
- 无人机(UAV) /
- 编队重构 /
- 邻居集 /
- 分布式模型预测控制(DMPC) /
- 量子粒子群
Abstract:For various threats in the enemy defense area, in order to achieve covert penetration and implement effective combat against enemy, the unmanned aerial vehicle (UAV) formation needs to be reconfigured in the process of penetration, and the multi-UAV collision avoidance problem and communication constraint problem within the formation also need be considered. By establishing the virtual leader formation model and introducing the neighbor set, this paper adopts distributed model predictive control (DMPC), reconstructs the cost function of multi-UAV formation reconfiguration, and proposes that the cost function is solved by adopting the revised quantum-behaved particle swarm algorithm. The solving result is compared with the result obtained by particle swarm algorithm. Simulation result shows that this algorithm can control multi-UAV formation' autonomous reconfiguration effectively and achieve covert penetration safely.
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图 7 分布式协同编队构型重构原理框图
Figure 7. Principle block diagram of distributed cooperating formation reconfiguration
图 10 威胁环境下无人机编队自动构型变换轨迹
Figure 10. Automatic configuration transforming flight trajectory of UAV formation in threatened environment
图 15 RQPSO算法与PSO算法收敛速度比较
Figure 15. Comparison of convergence speed between RQPSO and PSO algorithms
表 1 无人机初始运动参数
Table 1. Initial kinematic parameters of UAVs
无人机 (x, y)/km v/(m·s-1) χ/(°) uv1 (3.8, 8.2) 152 90 uv2 (2.8, 7.7) 152 90 uv3 (2.8, 8.7) 152 90 uv4 (1.8, 7.2) 152 90 uv5 (1.8, 9.2) 152 90 
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表 2 参考轨迹参数
Table 2. Parameters of reference trajectory
参数 时间/s 数值 初始位置 0 (2.8, 8.2) km 速度 [0,200] 152m/s 航向 [0,200] 90°
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表 3 编队初始构型参数
Table 3. Parameters of Initial formation configuration
初始坐标 数值 (x1rd,x1rd ) (0,1/sin(π/3)) (x2rd,x2rd ) (0.5,0.5/sin(π/6)) (x3rd,x3rd ) (-0.5,0.5/sin(π/6)) (x4rd,x4rd ) (1,-0.5/cos (π/6)) (x5rd,x5rd ) (-1,-0.5/cos (π/6))
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表 4 敌方威胁参数
Table 4. Parameters of enemy threat
参数 数值 预警雷达坐标/km (30, 20) 预警雷达作用距离/km 20 防空雷达坐标/km (32, 18) 防空雷达作用距离/km 12 防空雷达角度/(°) 10 禁飞区1区间范围/km [(12, 12), (18, 12), (18, 18), (12, 5)] 禁飞区2区间范围/km [(25, 25), (35, 25), (35, 5), (25, 5)] 机间防碰撞距离/km 0.5 最大通信距离/km 2
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