摘要
受启发于无人机(unmanned aerial vehicle,UAV)编队飞行与生物群体社会性行为的相似性,本文提出了一种基于鸽群行为机制的多无人机自主编队控制方法.首先通过模仿鸽群特有的层级行为,建立了鸽群行为机制模型.该模型在已有群集模型基础上,采用有向图和人工势场理论对鸽群中的拓扑结构和领导机制进行建模.在深入分析无人机自主编队飞行仿生机理的基础上,设计了一种基于鸽群行为机制的无人机自主编队控制器.该控制器以鸽群行为机制模型为核心,还包含两个辅助环节,即控制指令解算器和状态转换器.最后,通过系列仿真实验验证了无人机群可在本文所设计的无人机自主编队控制器作用下形成预期的编队队形,并可在复杂长机运动条件下保持队形.
Inspired by the similarity between the unmanned aerial vehicle（UAV） formation flight and the social behavior of biological populations, we propose in this paper a method of autonomous formation control for multiple UAVs based on the mechanism in the pigeon flock. Firstly, the model of the pigeon behavior mechanism is built by mimicking the specific context-dependent hierarchies in pigeon flocks. It is based on the existing flock model, and the topological structure and leadership in pigeon flocks are modeled by using digraph and potential field theory, respectively. Then, the bionic mechanism of multiple UAV autonomous formation is analyzed further, and a formation keeping controller based on the pigeon flock behavior mechanism is designed. The controller, with the model of the pigeon behavior mechanism as the core, includes two assistant parts： the control instruction solver and the state transformer. Finally, a series of simulation results are given to show that the UAVs can form an expected flight formation with the designed controller, and keep the formation under serious conditions of complex leader motion.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2015年第10期1298-1304,共7页
Control Theory & Applications
基金
国家杰出青年科学基金项目(61425008)
国家自然科学基金重点项目(61333004)
国家自然科学基金面上项目(61273054)
中组部青年拔尖人才支持计划项目(2013)
航空科学基金项目(2015ZA51013)资助~~
关键词
无人机
编队控制
鸽群层级行为
有向图
人工势场
unmanned aerial vehicles
formation control
hierarchies in pigeons
digraph
potential field
作者简介
邱华鑫（1992-），女，博士研究生，目前研究方向为多飞行器协同自主控制与智能决策，E-mail：qhxmemory2013@gmail．com；
通信作者．段海滨（1976-），男，博士，教授，博士生导师，目前研究方向为多飞行器自主协同控制、计算机仿生视觉和仿生智能计算，E—mail：hbduan@buaa．educn；
范彦铭（1964-），男，博士，研究员，副总设计师，目前研究方向为先进飞行器控制律设计与实现、无人机自主飞行控制，E—mail：michaelfan@yeah．net．
