[1]董程博,陈恩民,杨 坤,等.多目标点同时到达约束下的集群四维轨迹规划设计[J].控制与信息技术(原大功率变流技术),2019,(04):23-28.[doi:10.13889/j.issn.2096-5427.2019.04.005]
 DONG Chengbo,CHEN Enmin,YANG Kun,et al.Four-dimensional Drone Cluster Route Planning under the Constraint of Simultaneous Multi-obiective Arrival[J].High Power Converter Technology,2019,(04):23-28.[doi:10.13889/j.issn.2096-5427.2019.04.005]
点击复制

多目标点同时到达约束下的集群四维轨迹规划设计()
分享到:

《控制与信息技术》(原《大功率变流技术》)[ISSN:2095-3631/CN:43-1486/U]

卷:
期数:
2019年04期
页码:
23-28
栏目:
“中国飞行力学学术年会”专刊
出版日期:
2019-08-05

文章信息/Info

Title:
Four-dimensional Drone Cluster Route Planning under the Constraint of Simultaneous Multi-obiective Arrival
文章编号:
2096-5427(2019)04-0023-06
作者:
董程博1陈恩民1杨 坤1魏东辉2
(1.北京航空航天大学 自动化科学与电气工程学院,北京 100191;2.复杂系统控制与智能协同技术重点实验室,北京 100048)
Author(s):
DONG Chengbo1 CHEN Enmin1 YANG Kun1 WEI Donghui2
( 1.School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; 2.Laboratory of Complex System Control and Intelligent Collaborative Technology, Beijing 100048, China )
关键词:
协同控制最优目标分配不等长轨迹同时到达匈牙利算法防撞算法
Keywords:
cooperative control optimal target allocation unequal trajectories reaching simultaneously Hungarian algorithm collision avoidance algorithm
分类号:
V448
DOI:
10.13889/j.issn.2096-5427.2019.04.005
文献标志码:
A
摘要:
文章提出一种多目标点同时到达约束下的规划设计方法,其由匈牙利算法实现最优目标分配,防撞算法给出速度分段矩阵,经无人机运动学特性修正后,输出值可直接写入无人机地面站控制飞行。该方法在保证飞行器飞行安全的情况下,不仅解决了现有等长轨迹规划法导致的飞行器跟踪轨迹复杂性问题,同时也优化了飞行器同时到达多目标点的飞行时间。
Abstract:
It presented a design method for simultaneous arrival of multiple objective points under constraint of reaching simultaneously. The optimal target allocation part is realized through the Hungarian algorithm, and drones’ velocity segmented matrix is given by Anti-collision algorithm. After modifying according to dynamic characteristics of drone, the output of the algorithm can be directly imported to the ground station to control the flight. This method solves the complexity of aircraft tracking trajectory caused by the existing equal-length trajectory planning method, and optimizes the flight time of aircraft reaching multiple target points simultaneously while ensuring the flight safety.

参考文献/References:

[1] 苏菲,彭辉,沈林成.基于协进化多子群蚁群算法的多无人作战飞机协同航迹规划研究[J].兵工学报, 2009, 30(11): 1562-1568.
[2] 汲万峰,王光源,严建钢,等. 基于任务分配的多飞行器协同航迹规划[J].系统工程理论与实践,2013, 33(9): 2443-2448.
[3] MA P B, FAN Z E, JI J, et al. Cooperative control of multi-UAV with time constraint in the threat environment[C]// IEEE Chinese Guidance Navigation and Control Conference, 2014: 2424-2428.
 [4] 吕光颢,彭周华,王丹,等. 无人船集群队形重构的目标任务分配[J].中国舰船研究,2018, 13(6): 101-106.
[5] 赵世钰,周锐. 基于协调变量的多导弹协同制导[J].航空学报,2008(6): 1605-1611.
 [6] 赵伟康,韩一娜,张浩宇,等. 多假设跟踪中的高效匈牙利算法研究[J].水下无人系统学报,2018, 26(5): 444-448.
 [7] TSOURDOS A, WHITE B, SHANMUGAVEI M. Cooperative Path Planning of Unmanned Aerial Vehicles[M]. New York: Wiley, 2011.
[8] 全权.多旋翼飞行器控制与设计[M].北京:电子工业出版社,2017: 452-458.

相似文献/References:

[1]盛建科,年珩,於妮飒,等.不平衡电网下基于预测电流控制的双馈风电变流器协同控制技术[J].控制与信息技术(原大功率变流技术),2013,(03):40.[doi:10.13889/j.issn.2095-3631.2013.03.011]
 SHENG Jian-ke,NIAN Heng,YU Ni-sa,et al.Coordinated Control of DFIG , s Converter Under Unbalanced Grid Voltage Conditions Based on Predictive Current Control[J].High Power Converter Technology,2013,(04):40.[doi:10.13889/j.issn.2095-3631.2013.03.011]
[2]陈昶荣,许 鑫,崔东辉,等.基于神经网络的飞行器协同编队控制研究[J].控制与信息技术(原大功率变流技术),2019,(04):29.[doi:10.13889/j.issn.2096-5427.2019.04.006]
 CHEN Changrong,XU Xin,CUI Donghui,et al.Research on Aircraft Cooperative Formation Control Based on Neural Network[J].High Power Converter Technology,2019,(04):29.[doi:10.13889/j.issn.2096-5427.2019.04.006]

备注/Memo

备注/Memo:
收稿日期:2019-05-15
作者简介:董程博(1998— ),男,研究方向为飞行器控制。
更新日期/Last Update: 2019-08-20