摘要
【目的】随着无人机在电力巡检、应急救援等复杂场景中应用需求的不断提升,单架无人机在任务执行时的局限性日益突出。多无人机编队能够有效提升巡检效率、扩大作业覆盖范围,但在实际应用过程中,编队队形保持、航迹协同优化及对复杂环境的适应能力仍面临诸多挑战。针对无人机集群在平面大机动飞行过程中的队形保持与路径优化难题,提出了一种结合虚拟弹簧力和hp自适应伪谱法的最优控制方法,旨在提升无人机编队协同飞行的稳定性、灵活性及抗干扰能力,为电力巡检等无人机高要求场景提供技术支撑。【方法】建立多无人机系统的动力学模型,并将虚拟弹簧机制引入编队控制体系,实现机间柔性约束和弹性自调节。通过将虚拟弹簧法与传统领航跟随法结合,设计了一种可兼顾队形刚性支撑与自适应调整能力的编队策略。在此基础上,采用hp自适应伪谱法对无人机编队的最优控制问题进行求解。该方法通过在Legendre-Gauss节点上离散状态量与控制量,构造全局插值多项式,将无人机编队路径优化问题转化为非线性规划问题,并结合动力学、能耗、速度等约束条件进行高精度数值求解。仿真实验中,设定了典型的四机菱形编队场景,全面考察了算法在不同地形、风扰和任务需求下的适应性。【结果】仿真结果显示,基于虚拟弹簧的hp自适应伪谱法能够有效实现无人机编队的平滑转弯和速度控制。在编队90°大机动转弯过程中,无人机不仅能够满足航迹偏转、速度变化等多重约束,还能保持良好的编队队形。与传统领航跟随法和人工势场法相比,本文方法在位置误差、队形保持、抗风扰能力等方面均表现出显著优势。在10 m/s强风干扰情形下,本文方法队形稳定性可达70%以上,显著优于其他对比算法。三维地形仿真和实际飞行测试进一步验证了算法的适应性和鲁棒性,方法在丘陵、山区、峡谷等多种地形下,依然能够维持较低的队形变形率和较小的航迹跟踪误差,能耗控制合理,具备较强的工程实用性。【结论】本文创新性地将虚拟弹簧弹性约束机制与hp自适应伪谱法深度融合,提出一种适用于复杂环境下多无人机编队航迹规划的最优控制技术。该方法不仅突破了传统编队的刚性约束,实现了队形的柔性保持和自适应调整,还显著提升了编队航迹优化的精度与效率。研究结果为无人机集群在电力巡检、应急救援等高难度任务中的协同编队飞行提供高效、可靠的技术路径。后续研究可进一步拓展该方法在多编队协同、复杂障碍环境下的应用潜力,推动无人机编队的智能化、实用化发展。
[Objective]With the increasing demand for application of unmanned aerial vehicles(UAVs)in complex scenarios such as power grid inspection and emergency rescue,the limitations of single UAV in task execution have become increasingly prominent.Multi-UAV formation can effectively improve inspection efficiency and expand operation coverage,but significant challenges remain in formation maintenance,collaborative trajectory optimization,and environmental adaptability to complex environments during practical application.An optimal control method that integrated virtual spring forces with the hp-adaptive pseudospectral method was proposed to address the difficulties of formation maintenance and path optimization during large planar maneuvers of UAV swarms,thus enhancing the stability,flexibility,and disturbance resistance of collaborative flight of UAV formations and providing technical support for high-demand scenarios for UAVs such as power grid inspection.[Methods]First,a multi-UAV system dynamics model was built,and a virtual spring mechanism was incorporated into the formation control system to realize flexible constraints and elastic self-adjustment between UAVs.By combining the virtual spring method with the traditional leader-follower method,a formation strategy that could balance rigid support and adaptive adjustment ability of formations was designed.On this basis,the hp-adaptive pseudospectral method was then applied to solve the optimal control problem of UAV formations.By discretizing state and control variables at Legendre-Gauss nodes and constructing global interpolation polynomials,the trajectory optimization problem was transformed into a nonlinear programming(NLP)problem,with constraints such as dynamics,energy consumption,and velocity combined to conduct a high-precision numerical solution.In simulation experiments,a typical four-UAV diamond formation was set up,and the algorithm′s adaptability to different terrains,wind disturbances,and mission requirements was comprehensively explored.[Results]Simulation results show that the proposed virtual spring-based hp-adaptive pseudospectral method can realize smooth formation turning and velocity control.During a 90°large maneuver,UAVs can not only satisfy multiple constraints such as path deflection and speed change,but also maintain a stable formation.Compared with traditional leader-follower and artificial potential field methods,the new method demonstrates significant advantages in position error,formation maintenance,and wind resistance.Under 10 m/s strong wind,the formation stability of the proposed method exceeds 70%,showing significant advantages over its competing algorithms.3D terrain simulations and real flight tests further validate the algorithm′s adaptability and robustness,and the method still maintains lower formation deformation rates and trajectory tracking error under multiple terrains such as hills,mountains,and canyons,with the features of reasonable energy consumption control and strong engineering practicability.[Conclusion]By innovatively integrating the virtual spring elastic constraint with the hp-adaptive pseudospectral method,an optimal control technique for UAV formation trajectory planning in complex environments was proposed.The rigidity constraint limitations of traditional formation methods are overcome,flexible maintenance and adaptive adjustment of formations are realized,and the accuracy and efficiency of collaborative trajectory optimization are significantly improved by the method.The research results provide an efficient and reliable technical path for collaborative flight of UAV swarms in demanding tasks such as power grid inspection and emergency rescue.Future studies may further increase the method′s application potential in multi-formation collaboration and complex obstacle environments,promoting the intelligent and practical development of UAV formations.
作者
李翔
罗望春
石志彬
张兴华
刘洪驿
LI Xiang;LUO Wangchun;SHI Zhibin;ZHANG Xinghua;LIU Hongyi(Electric Power Research Institute,China Southern Power Grid,Guangzhou 510700,Guangdong,China)
出处
《沈阳工业大学学报》
北大核心
2025年第5期575-583,共9页
Journal of Shenyang University of Technology
基金
国家自然科学基金项目(12202384)
中国南方电网超高压输电公司项目(CGYKJXM20220111)。
关键词
无人机
集群编队
航迹规划
虚拟势场
领航跟随法
最优控制方法
伪谱法
协同控制
unmanned aerial vehicle
swarm formation
trajectory planning
virtual potential field
leader-follower method
optimal control method
pseudospectral method
collaborative control
