无人机集群编队控制演示验证系统

朱创创; 梁晓龙; 张佳强; 何吕龙; 刘流

doi:10.13700/j.bh.1001-5965.2017.0600

无人机集群编队控制演示验证系统

doi: 10.13700/j.bh.1001-5965.2017.0600

空军工程大学空管领航学院, 西安 710051

基金项目:

国家自然科学基金 61472442

国家自然科学基金 61472443

国家自然科学基金 61703427

陕西省自然科学基金 2016JM6071

陕西省自然科学基金 2017JQ6035

详细信息

作者简介:
朱创创男, 硕士研究生。主要研究方向:航空集群运动控制

梁晓龙男，博士，教授，硕士生导师。主要研究方向：航空集群理论与技术、空管智能化

通讯作者:
梁晓龙, E-mail: afeu_lxl@sina.com

中图分类号: TP23
计量
- 文章访问数: 1275
- HTML全文浏览量: 216
- PDF下载量: 947
- 被引次数: 0
出版历程
- 收稿日期: 2017-09-25
- 录用日期: 2017-12-22
- 网络出版日期: 2018-08-20

Demonstration and verification system for UAV swarm formation control

Air Traffic Control and Navigation College, Air Force Engineering University, Xi'an 710051, China

Funds:

National Natural Science Foundation of China 61472442

National Natural Science Foundation of China 61472443

National Natural Science Foundation of China 61703427

Natural Science Foundation of Shaanxi Province, China 2016JM6071

Natural Science Foundation of Shaanxi Province, China 2017JQ6035

More Information

Corresponding author: LIANG Xiaolong, E-mail: afeu_lxl@sina.com

摘要

摘要:
为验证无人机集群编队控制算法在实际环境中的有效性，基于四旋翼无人机平台和双数据链、双地面站冗余设计，搭建了分布式控制的无人机集群编队控制演示验证系统。基于分层控制和封装的思想，将无人机控制系统分为执行层和决策层。执行层采用PIX自驾仪进行封装，只需修改自驾仪参数，不需针对不同无人机平台开发相应的控制策略，就能实现对异构集群的控制。需要验证不同的编队控制算法时，只需对决策层的控制算法进行修改即可，使系统具有较强的适应性和扩展性。演示验证系统采用双地面站和数据链，可实现在多种网络拓扑或通信失败情况下的无人机集群控制，具有较高的稳定性和安全性。应用领导-跟随协同编队控制算法，验证了本文演示验证系统的功能和性能。
- 无人机集群 /
- 编队控制 /
- 分布式控制 /
- 演示验证系统 /
- 飞行试验
Abstract:
In order to verify the effectiveness of the formation control algorithms of UAV swarm in the actual environment, a distributed UAV swarm formation control demonstration and verification system consisting of UAV platform, two sets of ground station and data link was built under outdoor conditions. The control system of UAV was divided into executive layer and decision layer on the basis of the idea of hierarchical control and encapsulation. The PIX autopilot was encapsulated in the executive layer, and the control strategy of heterogeneous swarm can be realized only with autopilot parameter modification and without corresponding control strategy development for different UAV platforms. When the different control algorithms need to be verified, control algorithm for decision layer can be modified so that the system has strong adaptability and scalability. Two sets of ground control stations and data links are adopted, which can achieve the multi-UAV control under a variety of interaction topology or in the case of communication failure and ensure the system's robustness and security. The demonstration and verification system's function and performance are verified with the leader-follower synergy formation control algorithm.
- UAV swarm /
- formation control /
- distributed control /
- demonstration and verification system /
- flight test

HTML全文

图 1 无人机集群编队控制演示验证系统结构框图

Figure 1. Structure diagram of UAV swarm formation control demonstration and verification system

下载: 全尺寸图片幻灯片

图 2 无人机控制系统结构框图

Figure 2. Structure diagram of UAV control system

下载: 全尺寸图片幻灯片

图 3 无人机控制系统软件流程图

Figure 3. Software flowchart of UAV control system

下载: 全尺寸图片幻灯片

图 4 地面站软件界面

Figure 4. Ground station software interface

下载: 全尺寸图片幻灯片

图 5 数据链模块

Figure 5. Data link module

下载: 全尺寸图片幻灯片

图 6 试验系统实物图

Figure 6. Photo of test system

下载: 全尺寸图片幻灯片

图 7 3架无人机之间通信拓扑图

Figure 7. Topological graph of communication among three UAVs

下载: 全尺寸图片幻灯片

图 8 试验流程图

Figure 8. Test flowchart

下载: 全尺寸图片幻灯片

图 9 试验过程中地面视角的3架无人机空中位置

Figure 9. Air position of three UAVs from view of ground in test process

下载: 全尺寸图片幻灯片

图 10 飞行试验数据曲线

Figure 10. Flight test data curves

下载: 全尺寸图片幻灯片

表 1 试验参数取值

Table 1. Test parameter selection

参数	取值
c₁	1
c₂	2.5
a	10
b	250
R/m	100
δ	0.1
d/m	4.9
c₃	3.0

下载: 导出CSV

参考文献(17)

[1]	牛轶峰, 肖湘江, 柯冠岩.无人机集群作战概念及关键技术分析[J].国防科技, 2013, 34(5):37-43. http://d.old.wanfangdata.com.cn/Periodical/gfkj201305007 NIU Y F, XIAO X J, KE G Y.Operation concept and key techniques of unmanned aerial vehicle swarm[J].National Defense Science and Technology, 2013, 34(5):37-43(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/gfkj201305007
[2]	袁政英.美空军未来20年小型无人机发展路线图[J].防务视点, 2016(10):58-59. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QKC20162016111800031112 YUAN Z Y.United states air force in the next 20 years the development of a small UAV roadmap[J].Defense Point, 2016(10):58-59(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QKC20162016111800031112
[3]	宗群, 王丹丹, 邵士凯, 等.多无人机协同编队飞行控制研究现状及发展[J].哈尔滨工业大学学报, 2017, 49(3):1-14. http://d.old.wanfangdata.com.cn/Periodical/hebgydxxb201703001 ZONG Q, WANG D D, SHAO S K, et al.Research status and development of multi UAV coordinated formation flight control[J].Journal of Harbin Institute of Technology, 2017, 49(3):1-14(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hebgydxxb201703001
[4]	王祥科, 李迅, 郑志强.多智能体系统编队控制相关问题研究综述[J].控制与决策, 2013, 28(11):1601-1613. http://d.old.wanfangdata.com.cn/Periodical/kzyjc201311001 WANG X K, LI X, ZHENG Z Q.Survey of developments on multi-agent formation control related problems[J].Control and Decision, 2013, 28(11):1601-1613(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/kzyjc201311001
[5]	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. http://bhxb.buaa.edu.cn/CN/abstract/abstract14011.shtml WU J C, ZHOU R, DONG Z N, et al.Formation flight control method of multiple UAVs based on guidance route[J].Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(7):1518-1525(in Chinese). http://bhxb.buaa.edu.cn/CN/abstract/abstract14011.shtml
[6]	KOWNACKI C.Multi-UAV flight using virtual structure combined with behavioral approach[J].Acta Mechanica et Automatic, 2016, 10(2):92-99. doi: 10.1515/ama-2016-0015
[7]	DUAN H B, LIU S Q.Non-linear dual-mode receding horizon control for multiple unmanned air vehicles formation flight based on chaotic particle swarm optimization[J].IET Control Theory and Applications, 2010, 4(11):2565-2578. doi: 10.1049/iet-cta.2009.0256
[8]	ROY N, NEWMAN P, SRINIVASA S.Towards a swarm of agile micro quadrotors[J].Autonomous Robots, 2013, 35(4):287-300. doi: 10.1007/s10514-013-9349-9
[9]	YOU D I, SHIM D H.Autonomous formation flight test of multi-micro aerial vehicles[J].Journal of Intelligent and Robotic Systems, 2011, 61(1-4):321-337. doi: 10.1007/s10846-010-9481-0
[10]	洪晔, 缪存孝, 雷旭升.基于长机-僚机模式的无人机编队方法及飞行实验研究[J].机器人, 2010, 32(4):505-509. http://d.old.wanfangdata.com.cn/Periodical/jqr201004010 HONG Y, MIAO C X, LEI X S.Formation method and flight test of multiple UAVs based on leader-follower pattern[J].Robot, 2010, 32(4):505-509(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/jqr201004010
[11]	DONG X W, ZHOU Y, ZHANG R, et al.Time-varying formation control for unmanned aerial vehicles with switching interaction topologies[J].Control Engineering Practice, 2016, 46:26-36. doi: 10.1016/j.conengprac.2015.10.001
[12]	王勋, 张纪阳, 张代兵, 等.无人机编队飞行快速试验系统设计[J].机器人, 2017, 39(2):160-166. http://d.old.wanfangdata.com.cn/Periodical/jqr201702004 WANG X, ZHANG J Y, ZHANG D B, et al.Development of an experiment system for UAV formation flight[J].Robot, 2017, 39(2):160-166(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/jqr201702004
[13]	JIANG C M, WAN L, SUN Y S.Design of S-plane controller of autonomous underwater vehicle established on sliding mode control[J].Journal of Harbin Institute of Technology (New Series), 2017, 24(2):58-64. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hebgydxxb-e201702008
[14]	CUI R, LI Y, YAN W.Mutual information-based multi-AUV path planning for scalar field sampling using multidimensional RRT^*[J].IEEE Transactions on Systems Man & Cybernetics Systems, 2016, 46(7):993-1004.
[15]	张少苹, 戴锋, 王成志, 等.多Agent系统研究综述[J].复杂系统与复杂性科学, 2011, 8(4):1-7. doi: 10.3969/j.issn.1672-3813.2011.04.001 ZHANG S P, DAI F, WANG C Z, et al.Summary on research of multi-agent system[J].Complex System and Complex Science, 2011, 8(4):1-7(in Chinese). doi: 10.3969/j.issn.1672-3813.2011.04.001
[16]	QIN Z H, SUN H B, LIN Z. A hierarchical control strategy of autonomous unmanned surface vehicle swarm[C]//The 26th International Ocean and Polar Engineering Conference. Mountain View: International Society of Offshore and Polar Engineers, 2016: 474-479.
[17]	HE L L, BAI P, LIANG X L, et al.Feedback formation control of UAV swarm with multiple implicit leaders[J].Aerospace Science and Technology, 2018, 72:327-334. doi: 10.1016/j.ast.2017.11.020