UAV Formation Recovery and Consistency Simulation Based on Improved Potential Field

doi:10.16182/j.issn1004731x.joss.20-0980

Abstract

Abstract:

Aiming at the problems of multi-UAV formation collision avoidance, formation recovery and the consistency of position and velocity convergence, a distributed cooperative formation control algorithm based on the improved potential field principle and consistency theory is proposed. The static obstacle model, UAV particle model and the second-order system dynamic model are established; the coordination potential field function with coordination factors and communication weights is defined, which can achieve the control objectives of collision avoidance and formation recovery; on the basic consistency protocol, the formation center reference vector, expected speed and speed stabilization items are introduced to achieve the convergence and consistency of position and speed; the coordinated formation control algorithm is designed by combining the improved consistency protocol and the improved total acceleration under the action of the potential field, and the stable convergence of the algorithm is proved by the Hamilton function. The simulation results show that the method can achieve the control objectives of collision avoidance, formation recovery and the convergence of position and velocity.

Key words: coordinated formation, coordination potential field function, communication weight, formation recovery, consensus algorithm

CLC Number:

TP391.9

Ning Wang, Jiyang Dai, Jin Ying. UAV Formation Recovery and Consistency Simulation Based on Improved Potential Field[J]. Journal of System Simulation, 2022, 34(5): 978-993.

Figures/Tables 16

Fig. 1

Fig. 2

Fig. 3

Table 1

Obstacle position coordinates

障碍物	编号	坐标
山峰	1	(450, 450, 190)
	2	(350, 450, 170)
	3	(455, 325, 150)
	4	(390, 360, 130)
	5	(200, 300, 60)
	6	(75, 300, 80)
大气	1	(100, 50, 0)
	2	(450, 200, 0)
	3	(225, 450, 0)
雷达	1	(300, 235, 0)
	2	(400, 180, 0)
	3	(340, 130, 0)
	4	(260, 130, 0)
	5	(200, 180, 0)
	6	(300, 350, 0)
高射炮	1	$(151, 280, 110 ? 106)$
	2	$(110, 375, 120 ? 106)$
	3	$(218, 314, 110 ? 106)$
	4	(50, 150, 120)
	5	(250, 100, 75)
	6	(375, 290, 100)

Table 1

Table 2

Table 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

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Fig. 9

Fig. 10

Fig. 11

Fig. 12

Fig. 13

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名称	编号	坐标
无人机起始位置	1	(50.000 0, 450.000 0, 110.000 0)
	2	(50.000 0, 458.661 0, 97.752 5)
	3	(42.500 0, 445.669 5, 97.752 5)
	4	(57.500 0, 445.669 5, 97.752 5)
目标点位置	1	(450.000 0, 50.000 0, 110.000 0)
	2	(450.000 0, 58.661 0, 97.752 5)
	3	(442.500 0, 45.669 5, 97.752 5)
	4	(457.500 0, 45.669 5, 97.752 5)

参数	数值
α_ug1	1.5
α_ug2	3.0
m	0.45
l	0.5
β_uo	1.4
δ	0.05
ξ	350
α_uij	3
β_uij	1.4
p	0.5
q	0.5
k₁	15
k₂	0.001
k₃	20