摘要
研究了无人机编队的仿生飞行控制问题.雁群可通过有效利用编队飞行过程中的上洗气流节约体力,实现长距离飞行.通过分析雁群长途迁徙过程中的编队飞行机制,讨论了编队飞行与雁群行为机制间的仿生映射机理,设计了一种仿雁群行为机制的多无人机紧密编队构型及控制方法,并提出了一种基于雁群行为机制的编队变拓扑重构方法.仿真验证了无人机群可基于所设计的多无人机紧密编队控制器以较少的耗油量形成期望编队构型并保持,并可基于所提出的编队变拓扑重构方法实现编队重构.进而验证了本文所提出的基于雁群行为机制的多无人机编队保持及重构控制方法的有效性与稳定性.
This paper focuses on the study of multiple unmanned aerial vehicle（UAV） biomimetic formation control problem.It shows that the wild geese formation can save energy by analysing the behavior in the migration of wild geese.The bionic mechanism of multiple UAV formation has been discussed,and a formation keeping and toplogy changing controller based on the wild geese behavior mechanism has been designed.Simulation results are presented to show that the UAVs can form a stable flight formation due to the effect of the formation controller.With the model of the fuel consumption,the designed fomation can use the less fuel.The simulation verified the validity and stability of UAV close fomation control based on the wild geese behavior mechanism.
出处
《中国科学：技术科学》
EI
CSCD
北大核心
2017年第3期230-238,共9页
Scientia Sinica(Technologica)
基金
国家自然科学基金重点项目(批准号:61333004)
国家杰出青年科学基金项目(批准号:61425008)
航空科学基金项目(批准号:2015ZA51013)资助
关键词
无人机
雁群行为
紧密编队
变拓扑
unmanned aerial vehicles
wild geese behavior
close formation control
toplogy change
