| 基于分散式RHC算法的无人机编队碰撞避免研究 |
| |
| 引用本文： | 王锐,宋科璞,车军.基于分散式RHC算法的无人机编队碰撞避免研究[J].航空计算技术,2008,38(3):56-60,64. |
| |
| 作者姓名： | 王锐 宋科璞 车军 |
| |
| 作者单位： | 飞行自动控制研究所,飞行器控制一体化技术国防科技重点实验室,陕西,西安,710065;飞行自动控制研究所,飞行器控制一体化技术国防科技重点实验室,陕西,西安,710065;飞行自动控制研究所,飞行器控制一体化技术国防科技重点实验室,陕西,西安,710065 |
| |
| 摘 要： | 提出了一种基于滚动时域控制(Receding Horizon control)的,保证无人机编队在飞行过程中满足约束条件并且防撞的分散式控制设计方案.此方法中,每架UAV都可以做出紧急自由碰撞规避机动,以保证冲突避免和约束履行.使用不变集合方法和强制协同的逻辑规则保证了在飞行中UAV之间的碰撞避免.仿真证明,此种分散式RHC方法是有效的.
|
| 关 键 词： | 滚动时域控制 分散式 不变集合 协同规则 碰撞避免 |
Study on Decentralized RHC of Collision-free UAV Formations |
| |
| WANG Rui,SONG Ke-pu,CHE Jun.Study on Decentralized RHC of Collision-free UAV Formations[J].Aeronautical Computer Technique,2008,38(3):56-60,64. |
| |
| Authors: | WANG Rui SONG Ke-pu CHE Jun |
| |
| Abstract: | An overview of a novel approach to vehicle formation control is presented.The scheme is based on decentralized and cooperative predictive control.Collision avoidance and constraint fulfillment are ensured by using collision-free emergency maneuvers if necessary for each vehicle.The scheme also makes use of logic rules and invariant sets,the decentralized control laws which respect the rules are guaranteed feasibility and free-collision formation.It is demonstrated that this method is effective. |
| |
| Keywords: | receding horizon control decentralized invariant sets cooperation rules collision-free |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
