摘要
传统导弹武器科研实验时采用单无人机供靶的方式,在空域、人力资源紧张的条件下系统完备性差,同时也难以适应新型抗多目标武器科研实验的需求。因此,提出了一种基于时间协同的无人机编队航迹规划,将整个无人机编队飞行系统分为单机航迹规划层、实时在线多机协同规划层,单机航迹规划层采用基于Dubins的几何规划算法,并输出每架无人机4条可飞行路径至多机规划层,实时在线多机规划层采用基于路径长度最短、时间最小的最优算法解算出每架无人机的最优路径以及飞行速度,并提出绕圈等待他机的控制策略。仿真结果表明,使用该方法控制的多无人机系统能实现同一时刻到达各自的指定目标点的任务,即完成时间协同。
Traditional missile weapon experimental research often uses the method of single unmanned aerial vehicle （UAV） as target. Under the condition of scarce airspace and human resources, this system is not only incomprehensive, but also hard to meet the requirement of the new multi- objective weapons sci- entific research experiments. To solve the problem, this paper proposes a multi- UAV route planning method based on time collaboration. The whole system is divided into single path planning of UAV and re- al - time online collaborative planning layer. The former uses the Dubins algorithms and outputs four paths of each UAV; the real- time online collaborative planning layer find the optimal path and flying speed of each UAV based on the principle of shortest route and least time. In the process, a new control strategy of flying around waiting for other slower UAV is proposed. Finally, the Matlab simulation results show that this method can achieve time collaboration of the multi- UAV system.
出处
《机械与电子》
2016年第2期7-11,共5页
Machinery & Electronics
关键词
多无人机编队
Dubins法
绕圈等待
时间协同
Multi - UAV route planning
Dubins ideas
wait around in circles
collaborative time
