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多无人机编队协同控制技术作为人工智能中集群智能方向的热点研究问题,国内外学者对多无人机编队协同控制的理论和应用都做出了广泛深入的研究,而作为协同控制的核心问题的多无人机编队避障和控制问题的研究也取得了一些成果。首先从人工势场、速度障碍和Dubins路径三个方面介绍了单无人机避障与控制技术,并且针对各个算法的不足之处,提出了一些改进方法。在此基础上,又对多无人机编队避障与控制技术和无人机机间防碰撞进行了综述,分析各种方法的优缺点。最后,对多无人机编队避障及控制发展趋势进行了分析,并提出了可行的解决思路和方法。
Abstract：Multi-UAV formation cooperative control technology is the hot research issues in cluster intelligence direction in artificial intelligence,domestic and foreign scholars have made extensive and in-depth research on the theory and application of multi-UAV formation cooperative control,and as the core issues of collaborative control,the research on multi-UAV formation avoidance and control problems has also achieved some results. In this paper,the single unmanned aircraft obstacle avoidance and control technology is summarized from three aspects: artificial potential field,speed obstacle and Dubins path. Aiming at the deficiencies of each algorithm,some improved methods are proposed. On this basis,the multi-UAV formation avoidance and control technology and the anti-collision between UAVs are reviewed,and the advantages and disadvantages of various methods are analyzed. Finally,the development trend of obstacle avoidance and control of multi-UAV formations is analyzed,and feasible solutions and methods are proposed.
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基本信息:
DOI：10.19942/j.issn.2096-5915.2019.02.004
中图分类号:V279;V249
引用信息:
[1]方洋旺,欧阳楚月,符文星,等.无人机编队避障与控制技术研究现状及发展趋势[J].无人系统技术,2019,2(02):32-38.DOI:10.19942/j.issn.2096-5915.2019.02.004.
基金信息:
中央高校基本科研业务费专项资金资助(G2018KY0301)
2019-04-15
2019-04-15