多无人机协同感知与防碰撞控制技术

赵辉，周欢，蔡亚伟，王骁飞

（空军工程大学航空航天工程学院，西安710038）

摘要：随着无人机应用越来越广泛，空间中无人机密度迅速增加，防碰撞控制技术成为无人机实现安全飞行的重要保证。本文首先建立了多无人机协同感知与防碰撞系统结构，针对编队中无人机数量较少的情况，基于模型预测控制提出了一种速度可变的多无人机协同防碰撞方法，当无人机数量较大时，采用群智能规则设计一种速度恒定的多无人机协同防碰撞方法。数值仿真结果表明，模型预测控制方法具有较高的控制精度，群智能方法则具有较好的实时性。

关键词：多无人机；协同；感知；防碰撞；模型预测控制；群智能

Cooperative Sense and Collision Avoidance Control Technology of Multi-UAVs

ZHAO Hui, ZHOU Huan, CAI Ya-wei, WANG Xiao-fei

(Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi’an 710038)

Abstract： With the wide application of unmanned aerial vehicles(UAVs), the UAV density in the space has increased rapidly, and collision avoidance control technology has become an important guarantee that UAVs can fly safely. Firstly, a multi-UAVs cooperative sense and collision avoidance system structure is built. Then, a novel cooperative collision avoidance method based on the model predictive control(MPC) is put forward aimed at a small number of UAVs. Finally,another cooperative collision avoidance method based on the swarm intelligence rules is proposed when the number of UAVs is big enough. Simulation results demonstrate the MPC method has higher control precision and the swarm intelligence method has better real-time.

Key words： Multi-UAVs; Cooperative; Sense; Collision avoidance; MPC; Swarm intelligence

基金项目：国家自然科学基金（71501184）；航空科学基金（20155196022）。

作者简介：赵辉（1973—），男（汉），河北任丘人，教授，博士，主要研究领域为无人飞行器作战系统与技术、无人机导航制导与控制。E-mail：kgy_zhao@163.com。