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浙江大学学报(工学版)
航空航天技术     
基于tau矢量场制导的多无人机协同standoff跟踪方法
杨祖强,方舟,李平
1.浙江大学 航空航天学院,浙江 杭州 310027; 2. 浙江大学 控制科学与工程学院,浙江 杭州 310027
Cooperative standoff tracking for multiUAVs based on tau vector field guidance
YANG Zu qiang, FANG Zhou, LI Ping
1.School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China;
2. College of Control Science and Engineering, Hangzhou 310027, China
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摘要:

 针对有时间约束的多无人机(UAV)协同standoff跟踪需求,研究基于四维矢量场的多UAV协同制导方法.利用本征tauG制导策略能够依照期望时间对各运动状态进行同步规划的特性,构建tau制导矢量场,并在此基础上提出综合性多UAV协同standoff跟踪方法.该方法用tau矢量场导引各UAV的位置在期望时间准确收敛于目标圆,利用tauG策略调整UAV之间的相位间隔,应用序列二次规划对跟踪参数进行优化,并采用人工势场法进行协同避碰避障.仿真结果表明,基于tau矢量场制导的协同standoff跟踪方法计算负荷低,跟踪偏差小、制导策略可飞性好,飞行安全性高,能够更好地满足多UAV协同standoff跟踪的应用需求.

Abstract:

A four dimensional (4D) vector field guidance (VFG) method was presented for timeconstrained cooperative standoff tracking of multiple unmanned aerial vehicles (UAVs). The tau VFG (τVFG) was proposed utilizing the 4D synchronous guidance capability of the intrinsic tau gravity (tauG) guidance strategy. A comprehensive standoff tracking method was designed for multiple UAVs with the help of τVFG. The τVFG was applied to guide UAVs to approach the standoff circle exactly at the desired time, and tauG guidance was also adopted for phase intervals adjustment. Tracking parameters were optimized by sequential quadratic programming, and conflicts were resolved by artificial potential fields. Simulation results show that the τVFGbased method performs better in cooperative standoff tracking tasks with a lower computation load, smaller tracking errors, better flyability and higher flight safety.

出版日期: 2017-01-14
:  V 249  
基金资助:

国家自然科学基金资助项目(61004066);浙江省自然科学基金资助项目(LY15F030005);浙江省公益性技术研究计划资助项目(2016C33246).

通讯作者: 方舟,男,副教授.ORCID:000000020733958X.     E-mail: zfang@zju.edu.cn
作者简介: 杨祖强(1989-),男,博士生,从事多无人机协同规划方法,飞行器控制与仿真桨研究.ORCID:0000000152720390.E-mail:gaayzq@zju.edu.cn
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引用本文:

杨祖强,方舟,李平. 基于tau矢量场制导的多无人机协同standoff跟踪方法[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008973X.2016.05.024.

YANG Zu qiang, FANG Zhou, LI Ping. Cooperative standoff tracking for multiUAVs based on tau vector field guidance. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008973X.2016.05.024.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008973X.2016.05.024        http://www.zjujournals.com/eng/CN/Y2016/V50/I5/984

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