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一种基于图论的机场空域无人机流量控制方法

崔恺 曾国奇 林伟 全权

崔恺, 曾国奇, 林伟, 等 . 一种基于图论的机场空域无人机流量控制方法[J]. 北京航空航天大学学报, 2020, 46(5): 978-987. doi: 10.13700/j.bh.1001-5965.2019.0282
引用本文: 崔恺, 曾国奇, 林伟, 等 . 一种基于图论的机场空域无人机流量控制方法[J]. 北京航空航天大学学报, 2020, 46(5): 978-987. doi: 10.13700/j.bh.1001-5965.2019.0282
CUI Kai, ZENG Guoqi, LIN Wei, et al. Flow control method for UAV airport airspace based on graph theory[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 978-987. doi: 10.13700/j.bh.1001-5965.2019.0282(in Chinese)
Citation: CUI Kai, ZENG Guoqi, LIN Wei, et al. Flow control method for UAV airport airspace based on graph theory[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 978-987. doi: 10.13700/j.bh.1001-5965.2019.0282(in Chinese)

一种基于图论的机场空域无人机流量控制方法

doi: 10.13700/j.bh.1001-5965.2019.0282
基金项目: 

国家重点研发计划 SQ2017YFGX040110

北京市科技计划 Z181100003218015

详细信息
    作者简介:

    崔恺  男, 硕士研究生。主要研究方向:无人机任务规划、无人机流量调度

    曾国奇  男, 博士, 高级实验师。主要研究方向:无人机低空航路网规划与流量调度、无人机测控与指挥控制、无人机任务规划与飞行模拟训练

    林伟  男, 硕士研究生。主要研究方向:无人机航路规划系统、多无人机协同任务规划

    全权 男, 博士, 副教授。主要研究方向:可靠飞行控制

    通讯作者:

    曾国奇, E-mail: zengguoqi@buaa.edu.cn

  • 中图分类号: V351.21

Flow control method for UAV airport airspace based on graph theory

Funds: 

National Key R & D Program of China SQ2017YFGX040110

Beijing Municipal Science and Technology Project Z181100003218015

More Information
  • 摘要:

    城市物流无人机机场需具有同时起降多架无人机的能力,针对中小型垂直起降无人机设计了一种单入口单出口、航路交叉、多停机坪的机场模型,提出了一种基于图论的飞行安全优先的流量控制方法。根据机场内无人机飞行状态,控制无人机进离场时间,规划出机场内飞行航路,保证无人机飞行安全。仿真结果表明:该流量控制方法可以确保无人机在机场空域内安全有序飞行;分别测试了面积不同的机场进场与进离场运行容量,在单个停机坪面积一定时,停机坪数量越多进场容量越大,但进离场容量反而越小;因此在设计机场时,在给定的机场面积情况下,需要合理规划停机坪数量。

     

  • 图 1  机场航路示意图[11]

    Figure 1.  Schematic diagram of airfield route[11]

    图 2  流量控制流程图

    Figure 2.  Flowchart of flow control

    图 3  机场进场航路规划示意图

    Figure 3.  Schematic diagram of airfield arrival route planning

    图 4  tstep, k实时计算策略

    Figure 4.  Real-time computing strategy of tstep, k

    图 5  机场剩余航路示意图

    Figure 5.  Schematic diagram of airfield remaining route

    图 6  进场航路图更新流程图

    Figure 6.  Flowchart of airfield arrival route map update

    图 7  离场航路图更新流程图

    Figure 7.  Flowchart of airfield departure route map update

    图 8  紧急降落机场航路示意图

    Figure 8.  Schematic diagram of airfield route for emergency landing

    图 9  间隔时间-平均延时(进场)

    Figure 9.  Interval versus average delay graph of arrival

    图 10  间隔时间-平均延时(进离场)

    Figure 10.  Interval versus average delay of arrival and departure

    图 11  间隔时间-平均总延时(进离场)

    Figure 11.  Interval versus average total delay of arrival and departure

    图 12  运行时间-无人机最短相距距离(进场)

    Figure 12.  Arrival running time versus the shortest distance between drones

    图 13  运行时间-无人机最短相距距离(进离场)

    Figure 13.  Arrival and departure running time versus the shortest distance between drones

    表  1  紧急降落最小距离

    Table  1.   Minimum distance during emergency landing

    紧急降落架次 1 2 3 4 5
    最小距离/m 11.9 10.6 10.6 10.6 10.6
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-06-10
  • 录用日期:  2019-12-06
  • 刊出日期:  2020-05-20

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