固定翼无人机编队集结控制算法研究

针对固定翼无人机协同作战时的编队集结问题，提出了一种新的路径规划和位置分配方法，并设计了包括航迹跟踪、高度保持和速度控制在内的自动驾驶仪。该路径规划算法通过矩阵迭代得到一组较优的目标点分配方案，满足总航程较小和同时到达约束。根据得到的各无人机飞向目标点的航迹，算出无人机编队集结的代价矩阵。在每架无人机确定了应飞航路后，开始沿航路飞向目标点，在此过程中，纵向采用高度保持自动驾驶仪，横向采用航迹跟踪自动驾驶仪，控制无人机按规定航迹飞行。速度调节自动驾驶仪可根据速度指令调节油门大小加减速，跟踪上目标速度，进而实现编队集结。仿真结果验证了所提出的编队集结控制方法的有效性和可行性。

Research on Formation Control of Multiple Fixed-Wing UAVs

For the formation rendezvous problem in the cooperative operation of fixed-wing UAVs, this paper proposes a new path planning and location allocation method, and designs autopilots including trajectory tracking, altitude maintenance and speed control. The path planning algorithm obtains a set of relative more optimal target point assignments through matrix iteration, while satisfying the minimum total path and the simultaneous arrival constraints. According to the obtained trajectory of each UAV flying to the target point, the cost matrix of the UAV formation is calculated. After each UAV has determined the flight path, it will start to fly along the route to the target. In the process, the altitude is automatically maintained by the autopilot, and the trajectory tracking autopilot is used to keep the UAV flying along the desired trajectory. The speed autopilot can adjust the throttle according to the speed command, and track the upper target speed to realize the formation. The simulation results verify the effectiveness and feasibility of the proposed formation control method.