5结束语

本文分别基于模型预测控制方法和群智能规则研究了多无人机协同感知与防碰撞控制方法。主要结论有：

（1）构建了多无人机协同感知与防碰撞系统结构，无人机通过信息共享，既可以实现对环境的全面感知，还可以使协同系统总体决策最优。

（2）基于模型预测控制和群智能规则的多无人机协同防碰撞方法均能完成防碰撞目标，且前者控制精度更高，后者具有更好的实时性。

参考文献

[1] Izadi H．A．，Gordon B．W．，Zhang You-Min．Rule-based cooperative collision avoidance using decentralized model predictive control[C]//AIAA Infotech@Aerospace，St．Louis，Missouri，2011：1-14．

[2] Keviczky T．，Vanek B．，Borrelli F．，et al．Hybrid decentralized receding horizon control of vehicle formations[C]//Proceedings of the American Control Conference，Minneapolis，Minnesota，USA，June 14-16，2006：3358-3363．

[3] Dydek Z．T．，Annaswamy A．M．，Lavretsky E．Adaptive configuration control of multiple UAVs[J]．Control Engineering Practice，2013，21：1043-1052．

[4] Dowek G．，Munoz C．Conflict detection and resolution for 1，2，．．，N aircraft[C]//Proceedings of the 7th AIAA Aviation Technology，Integration and Operations Conference，AIAA-7737，Belfast，Northern Ireland，2007：1-13．

[5] Fulton N．L．Airspace design：towards a rigorous specification of conflict complexity based on computational geometry[J]．The Aeronautical Journal，1999，103(1020)：75-84．

[6] Helble H．，Cameron S．3-D path planning and target trajectory prediction for the Oxford aerial tracking system[C]//Proceedings of the IEEE International Conference on Robotics and Automation，Roma Italy，2007：1042-1048．

[7] Lee L．F．Decentralized motion Planning within an artificial potential framework (APF) for cooperative payload transport by multi-robot collectives[D]．Buffalo，New York，2004．

[8] Massoud A．A．Managing the dynamics of a harmonic potential field-guided robotic in a cluttered environment[J]．IEEE Transactions on Industrial Electronics，2009，56(2)：488-496．

[9] Gagnon E．，Rabbath C．A．，Lauzon M．Receding horizons with heading constraints for collision avoidance in unknown environments[C]//AIAA Guidance ， Navigation and Control Conference ， San Francisco ，California，15-18 August，2005，Paper no，AIAA 2005-6369：1-15．

[10] Gagnon E．，Rabbath C．A．，Lauzon M．Heading and position receding horizon control for trajectory generation[C]//American Control Conference，Portland，Oregon，2005：134-139．

[11] Boivin E．，Desbiens A．，Gagnon E．UAV collision avoidance using cooperative prediction control[C]//16th Mediterranean Conference on Control and Automation Congress Center，Ajaccio，France，2008：682-688．

[12] Bonbeau E．，Dorigo M．，Theraulaz G．Swarm intelligence from natural to artificial systems [M]．New York：Oxford University Press，1999．

[13] Oktay E．，Akay H．U．，Sehitoglu O．T．Three-dimensional structural topology optimization of aerial vehicles under aerodynamic loads[J]．Computers and Fluids，2014，92：225-232．

[14] Crowther B．Rule-based guidance for flight vehicle flocking[C]//Proceedings of the Institute of Mechanical Engineers，Part G[J]．Journal of Aerospace Engineering，2004，218(2)：111–124． QEDnzOzNIJci/JkIrhoZWGsJQo9Dbv8wdKeYjx2RUrJYqlkc5NIr03T+HxBUh5wM