| 基于预测控制的无人机编队内部避碰 |
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| 引用本文： | 魏健,李相民,代进进.基于预测控制的无人机编队内部避碰[J].海军航空工程学院学报,2015,30(4):387-391. |
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| 作者姓名： | 魏健 李相民 代进进 |
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| 作者单位： | 海军航空工程学院研究生管理大队,山东烟台 264001,海军航空工程学院兵器科学与技术系,山东烟台 264001,海军航空工程学院兵器科学与技术系,山东烟台 264001 |
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| 摘 要： | 针对无人机编队内部避碰问题,首先采用基于预测控制的方法,解决了在即将发生碰撞情况下无人机的航向调整问题;然后,建立了航路回归模型,解决了无人机避碰后,迅速回归预定航路的问题。仿真结果表明,文章给出的避碰方法能够有效解决无人机编队内部碰撞问题。
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| 关 键 词： | 无人机编队 避碰 预测控制 航向控制 |
UAV Team's Collision Avoidance Using Predictive Control |
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| WEI Jian,LI Xiangmin and DAI Jinjin.UAV Team's Collision Avoidance Using Predictive Control[J].Journal of Naval Aeronautical Engineering Institute,2015,30(4):387-391. |
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| Authors: | WEI Jian LI Xiangmin and DAI Jinjin |
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| Abstract: | In order to solve the collision avoidance problem between multi-UAV, the paper studied the UAV head adjust.ing problem before the collision based on predictive control. And then we presented the air route regression model. Itsolved the problem that UAV returned scheduled air route after avoiding collision. Finally, the simulation result showedthat the collision avoidance method can solve the multi-UAV collision problem effectively. |
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| Keywords: | unmanned aerial vehicle team collision avoidance prediction and control heading control |
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