航空学报 > 2023, Vol. 44 Issue (S2): 729791-729791   doi: 10.7527/S1000-6893.2023.29791

一种基于领导⁃跟随策略的多无人机⁃多无人艇编队协同机制

王振威1, 刘凯1(), 郭健2, 刘晓鹏2   

  1. 1.大连理工大学 力学与航空航天学院,大连 116024
    2.北京空天技术研究所,北京 100074
  • 收稿日期:2023-10-30 修回日期:2023-11-21 接受日期:2023-12-15 出版日期:2023-12-25 发布日期:2023-12-25
  • 通讯作者: 刘凯 E-mail:carsonliu@dlut.edu.cn
  • 基金资助:
    国家自然科学基金(U2141229)

A multi⁃UAVs and multi⁃USVs formation cooperative mechanism based on leader⁃follower strategy

Zhenwei WANG1, Kai LIU1(), Jian GUO2, Xiaopeng LIU2   

  1. 1.School of Mechanics and Aerospace Engineering,Dalian University of Technology,Dalian 116024,China
    2.Beijing Aerospace Technology Institute,Beijing 100074,China
  • Received:2023-10-30 Revised:2023-11-21 Accepted:2023-12-15 Online:2023-12-25 Published:2023-12-25
  • Contact: Kai LIU E-mail:carsonliu@dlut.edu.cn
  • Supported by:
    National Natural Science Foundation of China(U2141229)

摘要:

随着无人系统技术深入的发展,无人集群系统的海空跨域协同问题已成为当前的研究热点,本文针对海空协同下的多无人机(multi-UAVs)-多无人艇(multi-USVs)执行协同任务的前端协同航行问题,基于层次结构式领导-跟随策略开展了多无人机-多无人艇编队协同机制研究。本文首先建立了无人系统跨域集群编队运动模型,以描述跨域集群系统内各运动体的领导跟随关系;针对领航机-领航艇协同航迹规划问题,本文基于所建立的双层栅格化地图模型,建立了多约束条件下的航迹代价函数,并利用改进遗传算法进行求解;针对跨域集群编队协同运动控制问题,基于层次结构式Leader-Follower编队策略,设计了领航机-领航艇异构编队控制器与同构编队运动控制器,并利用模糊控制器对同构编队运动控制器进行了参数整定研究。最后,本文通过仿真实验验证了所设计的多无人机-多无人艇跨域集群协同机制的有效性。

关键词: 领导-跟随策略, 无人机-无人艇协同, 航迹规划, 编队控制, 模糊控制

Abstract:

As the unmanned system technology continues to advance, the issue of cross-domain cooperation in unmanned cluster systems has become a research hotspot. To address the problem of front-end cooperative navigation of multi-Unmanned Aerial Vehicles (UAVs) and multi-Unmanned Surface Vehicles (USVs) in a sea-air cooperation scenario, this paper conducts research on the multi-UAVs and multi-USVs formation cooperation mechanism based on the hierarchical leader-follower strategy. A motion model for cross-domain cluster formation is established to describe the leader-follower relationships among various entities within the cross-domain cluster system. Regarding the cooperative trajectory planning problem for the Leader-UAV and Leader-USV, a trajectory cost function considering multiple constraints is formulated based on the established double-layer grid map model. The improved genetic algorithm is employed for optimization. In the context of cross-domain cluster formation cooperative motion control, heterogeneous formation controllers for the leader-UAV and leader-USV and homogeneous formation motion controllers are designed based on the hierarchical leader-follower formation strategy. Parameter tuning is performed for the homogeneous formation motion controller using the fuzzy controller. Simulation experiments validate the effectiveness of the proposed cross-domain cooperative mechanism for multi-UAVs and multi-USVs.

Key words: leader-follower strategy, UAV-USV cooperation, trajectory planning, formation control, fuzzy control

中图分类号: