复杂环境下多无人机轨迹姿态协同控制

doi:10.7527/S1000-6893.2020.24245

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复杂环境下多无人机轨迹姿态协同控制

田栢苓, 李品品, 鲁瀚辰, 宗群

天津大学电气自动化与信息工程学院, 天津 300072

收稿日期:2020-05-18 修回日期:2020-06-01 发布日期:2020-06-12
通讯作者: 田栢苓 E-mail:bailing_tian@tju.edu.cn
基金资助:
国家自然科学基金（61773278，61673034，61673294，61873340，62022060）

Trajectory and attitude coordinated control of multiple unmanned aerial vehicles (UAVs) in complex environments

TIAN Bailing, LI Pinpin, LU Hanchen, ZONG Qun

School of Electric and Automation Engineering, Tianjin University, Tianjin 300072, China

Received:2020-05-18 Revised:2020-06-01 Published:2020-06-12
Supported by:
National Natural Science Foundation of China (61773278, 61673034, 61673294, 61873340, 62022060)

摘要/Abstract

摘要： 考虑多无人机在实际飞行过程中的避障需求，在建立面向控制的四旋翼无人机轨迹姿态模型基础上，为克服传统多无人机为每架无人机规划轨迹的不足，研究了基于多无人机中心点的轨迹设计策略。进一步，考虑避障约束，基于半定规划进行迭代区域扩张完成了多无人机的安全飞行区域及队形设计。在此基础上，基于干扰补偿策略为每架无人机设计了协同控制器，最终确保了多无人机在多障碍环境下的安全飞行。

关键词: 多无人机, 轨迹姿态协同, 干扰补偿, 半定规划, 避障

Abstract: Considering the collision avoidance and obstacle avoidance requirements during the flight process of multi-UAVs, on the basis of the establishment of the trajectory attitude model of four-rotor UAVs, this paper proposes the trajectory design strategy based on the central point of the cluster UAVs to avoid the deficiencies in the planning trajectory for each UAV of traditional cluster UAVs. Furthermore, in view of the obstacle avoidance constraints and the iterative regional expansion based on the semi-definite program, the safe flight area and formation design of the cluster UAVs are completed. Subsequently, based on the disturbance compensation strategy, a distributed cooperative controller is designed for each UAV, finally ensuring the safe flight of multiple UAVs in a complex multi-obstacle environment.

Key words: multiple unmanned aerial vehicles, trajectory attitude coordination, disturbance compensation, semi-definite program, obstacle avoidance

中图分类号:

V448.2

田栢苓, 李品品, 鲁瀚辰, 宗群. 复杂环境下多无人机轨迹姿态协同控制[J]. 航空学报, 2020, 41(S2): 724245-724245.

TIAN Bailing, LI Pinpin, LU Hanchen, ZONG Qun. Trajectory and attitude coordinated control of multiple unmanned aerial vehicles (UAVs) in complex environments[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S2): 724245-724245.

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复杂环境下多无人机轨迹姿态协同控制

Trajectory and attitude coordinated control of multiple unmanned aerial vehicles (UAVs) in complex environments

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