Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localizatio...Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.展开更多
In the realm of missile defense systems,the self-sufficient maneuver capacity of missile swarms is pivotal for their survival.Through the analysis of the missile dynamics model,a time-efficient cooperative attack stra...In the realm of missile defense systems,the self-sufficient maneuver capacity of missile swarms is pivotal for their survival.Through the analysis of the missile dynamics model,a time-efficient cooperative attack strategy for missile swarm is proposed.Based on the distribution of the attackers and defenders,the collision avoidance against the defenders is considered during the attack process.By analyzing the geometric relationship between the relative velocity vector and relative position vector of the attackers and defenders,the collision avoidance constrains of attacking swarm are redefined.The key point is on adjusting the relative velocity vectors to fall outside the collision cone.This work facilitates high-precision attack toward the target while keeping safe missing distance between other attackers during collision avoidance process.By leveraging an innovative repulsion artificial function,a time-efficient cooperative attack strategy for missile swarm is obtained.Through rigorous simulation,the effectiveness of this cooperative attack strategy is substantiated.Furthermore,by employing Monte Carlo simulation,the success rate of the cooperative attack strategy is assessesed and the optimal configuration for the missile swarm is deduced.展开更多
A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path...A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path-planning process into two layers is proposed by designing the velocityobstacle strategy for satisfying timeliness and effectiveness.The upper-level layer focuses on creating an efficient Dubins initial path considering the dynamic constraints of the fixed wing.Subsequently,the lower-level layer detects potential collisions and adjusts its flight paths to avoid collisions by using the threedimensional velocity obstacle method,which describes the maneuvering space of collision avoidance as the intersection space of half space.To further handle the dynamic and collisionavoidance constraints,a priority mechanism is designed to ensure that the adjusted path is still feasible for fixed-wing UAVs.Simulation experiments demonstrate the effectiveness of the proposed method.展开更多
The rapid increase of space debris population has posed serious threaten to the safety of human space activities and became a global issue.How to enhance the technical capabilities of space debris threat coping abilit...The rapid increase of space debris population has posed serious threaten to the safety of human space activities and became a global issue.How to enhance the technical capabilities of space debris threat coping ability is of great significance to the sustainable development of space activities,the further development,and utilization of outer space.In this paper,we describe space debris research progress of China on observation,collision avoidance,protection,mitigation,regulation,and standard during the last twenty years,and look forward to the future development direction of space debris.展开更多
基金the National Natural Science Foundation of China(Grant Nos.62303348 and 62173242)the Aeronautical Science Foundation of China(Grant No.2024M071048002)the National Science Fund for Distinguished Young Scholars(Grant No.62225308)to provide fund for conducting experiments.
文摘Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.
基金supported by the Intelligent Aerospace System Leading Innovation Team Program of Zhejiang(2022R01003).
文摘In the realm of missile defense systems,the self-sufficient maneuver capacity of missile swarms is pivotal for their survival.Through the analysis of the missile dynamics model,a time-efficient cooperative attack strategy for missile swarm is proposed.Based on the distribution of the attackers and defenders,the collision avoidance against the defenders is considered during the attack process.By analyzing the geometric relationship between the relative velocity vector and relative position vector of the attackers and defenders,the collision avoidance constrains of attacking swarm are redefined.The key point is on adjusting the relative velocity vectors to fall outside the collision cone.This work facilitates high-precision attack toward the target while keeping safe missing distance between other attackers during collision avoidance process.By leveraging an innovative repulsion artificial function,a time-efficient cooperative attack strategy for missile swarm is obtained.Through rigorous simulation,the effectiveness of this cooperative attack strategy is substantiated.Furthermore,by employing Monte Carlo simulation,the success rate of the cooperative attack strategy is assessesed and the optimal configuration for the missile swarm is deduced.
基金supported by the National Science Fund for Distinguished Young Scholars(52425211)BIT Research Fund Program for Young Scholars(XSQD-202201005).
文摘A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path-planning process into two layers is proposed by designing the velocityobstacle strategy for satisfying timeliness and effectiveness.The upper-level layer focuses on creating an efficient Dubins initial path considering the dynamic constraints of the fixed wing.Subsequently,the lower-level layer detects potential collisions and adjusts its flight paths to avoid collisions by using the threedimensional velocity obstacle method,which describes the maneuvering space of collision avoidance as the intersection space of half space.To further handle the dynamic and collisionavoidance constraints,a priority mechanism is designed to ensure that the adjusted path is still feasible for fixed-wing UAVs.Simulation experiments demonstrate the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(61473147)the Funding of Jiangsu Innovation Program for Graduated Education(KYLX16-0376)the Funding for Outstanding Doctoral Dissertation in NUAA(BCXJ16-02)
文摘The rapid increase of space debris population has posed serious threaten to the safety of human space activities and became a global issue.How to enhance the technical capabilities of space debris threat coping ability is of great significance to the sustainable development of space activities,the further development,and utilization of outer space.In this paper,we describe space debris research progress of China on observation,collision avoidance,protection,mitigation,regulation,and standard during the last twenty years,and look forward to the future development direction of space debris.
