系统仿真学报 ›› 2021, Vol. 33 ›› Issue (7): 1501-1513.doi: 10.16182/j.issn1004731x.joss.21-0461

• 专栏:过程控制仿真 •    下一篇

局部信息联通的多无人机协同控制过程仿真研究

李向阳1,3, 张志利1, 张宁2, 桂毅2, 李嘉2   

  1. 1.火箭军工程大学,陕西 西安 710025;
    2.中航工业自控所 飞行器控制一体化技术重点实验室,陕西 西安 710065;
    3.西北工业大学 航海学院,陕西 西安 710072
  • 收稿日期:2021-05-23 修回日期:2021-06-21 出版日期:2021-07-18 发布日期:2021-07-20
  • 作者简介:李向阳(1984-),男,博士,副教授,研究方向为协同式人机交互控制与仿真。E-mail:460752419@qq.com
  • 基金资助:
    国家自然科学基金(61702524); 航空科学基金(201658U8008); 陕西省自然科学基金(2016JQ6052)

Simulation of Cooperative Control Process for Multiple UAVs Based on Local Information Connection

Li Xiangyang1,3, Zhang Zhili1, Zhang Ning2, Gui Yi2, Li Jia2   

  1. 1. Rocket Force University of Engineering, Xi'an 710025, China;
    2. Science and Technology on Aircraft Control Laboratory, FACRI, Xi'an 710065, China;
    3. School of Marine Science and Technology, NPU, Xi'an 710072, China
  • Received:2021-05-23 Revised:2021-06-21 Online:2021-07-18 Published:2021-07-20

摘要: 针对局部信息联通条件下多无人机的协同控制要求,基于多层结构创建多无人机系统分布式体系架构,提出多层分布式多无人机系统的通信网络拓扑结构、状态控制信息模型和智能化自组网机制,确保多个无人机在局部信息联通下的可靠交互通信;采用局部状态预测和分布式迭代优化的协同碰撞规避策略,结合在线协同航迹规划和威胁规避控制方法,实现了多无人机任务执行过程的协同控制。仿真实验验证了方法的有效性。

关键词: 局部信息联通, 多无人机, 协同控制, 状态控制信息模型, 航迹规划, 威胁规避

Abstract: Aiming at the requirements of cooperative control for multiple UAVs based on local information connection, the distributed architecture of Multi-UAV system is established on the basis of multilayer structure. The communication network topology, state control information model and intelligent Ad-Hoc network mechanism are proposed to ensure the reliable interactive communication among multiple UAVs under local information connection. The cooperative collision avoidance strategy with local state prediction and distributed iterative optimization, combined with the cooperative on-line track planning and threat avoidance control methods, are applied to realize the cooperative control of Multi-UAV's task execution process. Simulation experiments verify the effectiveness of the proposed methods.

Key words: local information connection, multi-UAV, cooperative control, state control information model, track planning, threat avoidance

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