空地无人集群自调节控制与动态路径规划方法

doi:10.7527/S1000-6893.2024.29809

Abstract

Abstract:

To deal with the collective obstacle avoidance and navigation problem of air-ground unmanned swarm with heterogeneous detection abilities， a self-adaptive formation control and dynamic path planning method is proposed in this paper. Firstly， the mathematical model of Unmanned Aerial Vehicle （UAV） and ground robots describing motion， detection and communication is established respectively. And the control architecture is designed to satisfy the target of collective obstacle avoidance and navigation of the heterogeneous swarm. Secondly， this paper proposes the dynamic formation boundary generation method for ground robot swarm and designs shape control， inter-agent collision avoidance， formation and navigation control component separately to achieve self-adaptive formation control. Furthermore， a path planning method for UAV based on dynamic window approach is proposed in view of the characteristics of dynamic formation boundary. The safety of collective navigation and obstacle avoidance is guaranteed on the basis of self-adaptive formation control by designing optimization function. Finally， the paper designs the scene of formation adaption including scaling， deformation and rotation and task situation of collective obstacle avoidance and navigation through narrow corridors. The effectiveness of the proposed self-adaptive formation control and dynamic path planning for air-ground unmanned swarm is validated through simulation， and the applicable boundary of the proposed method is further analyzed.

Key words: air-ground unmanned swarm, unmanned aerial vehicle (UAV), ground robots, collective obstacle avoidance and navigation, self-adaptive formation control, dynamic path planning

CLC Number:

V249.12

Jiang ZHAO, Xuan ZHANG, Pei CHI, Yingxun WANG. Self⁃adaptive formation control and dynamic path planning for air⁃ground heterogeneous swarm[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(16): 329809-329809.

Figures/Tables 20

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Table 1

Table 2

Parameter setting of simulation scene for dynamic virtual formation boundary scaling

仿真时间/s	长轴长度/m	短轴长度/m	队形边界x方向速度/（m·s^-1）
$0,15$	20	20	3
$15,35$	$- 0.5 t + 27.5$	$- 0.5 t + 27.5$	3
$35,45$	10	10	3
$45,65$	$0.5 t - 12.5$	$0.5 t - 12.5$	3
$65,80$	20	20	3

Table 2

Fig.8

Table 3

Parameter setting of simulation scene for dynamic formation boundary deformation

仿真时间/s	长轴长度/m	短轴长度/m	队形边界x方向速度/（m·s^-1）
$0,15$	20	20	3
$15,35$	$400 / b$	$- 0.5 t + 27.5$	3
$35,45$	40	10	3
$45,65$	$400 / b$	$0.5 t - 12.5$	3
$65,80$	20	20	3

Table 3

Fig.9

Table 4

Parameter setting of simulation scene for dynamic formation boundary rotation

仿真时间/s	长轴长度/m	短轴长度/m	指向角度/rad	队形边界x方向速度/（m·s^-1）
$0,15$	40	10	0	3
$15,65$	40	10	$π t / 50 - 3 π / 10$	3
$65,80$	40	10	0	3

Table 4

Fig.10

Fig.11

Fig.12

Fig.13

Table 5

Table 6

Fig.14

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仿真组数	窄道宽度/m	倾斜角度/（°）	碰撞率/%
第1组	58.5	38	0
第2组	52	38	0
第3组	46	38	0
第4组	42	38	1.39
第5组	35.5	38	3.53

仿真组数	窄道宽度/m	倾斜角度/（°）	碰撞率/%
第1组	46	29	0
第2组	46	32	0
第3组	46	38	0
第4组	46	44	1.69
第5组	46	53	0.82

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Self⁃adaptive formation control and dynamic path planning for air⁃ground heterogeneous swarm

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