摘要
针对三维动态环境下编队无人机(UAV)的路径规划和队形保持问题,提出了基于改进三维动态势函数与约束动力学的编队UAV飞行算法。首先,建立了改进的动态三维人工势函数模型;针对编队UAV的队形保持和重组,通过引入拉格朗日乘子建立了含队形约束的编队UAV约束动力学方程组。仿真结果表明,所提算法在三维动态环境下可有效地进行编队UAV的路径规划、队形保持与重组。
As for the issue of path planning and formation control for UAV formation flight in 3 D dynamic space,a UAV formation flight algorithm based on 3 D dynamic artificial potential function and constraint dynamics is proposed.Firstly,the improved 3 D dynamic artificial potential function was established;in terms of formation maintaining and reconfiguration,the paper constructs the constrained dynamic equation set by introducing the Lagrange multiplier.The simulation result shows that the algorithm proposed is effective for path planning,formation control and reconfiguration for UAV formation.
作者
牛康
陈志明
李磊
刘辉
NIU Kang;CHEN Zhi-ming;LI Lei;LIU Hui(College of Astronautics, NUAA, Nanjing 210016, China;Shanghai Aerospace System Engineering Institute, Shanghai 201108, China)
出处
《飞行力学》
CSCD
北大核心
2018年第2期31-34,43,共5页
Flight Dynamics
基金
国家自然科学基金资助(61673212)
航空科学基金资助(20150852013)
上海市优秀学科带头人计划支持项目(14XD1423300)
关键词
动态势函数
编队飞行
正向动力学
约束动力学
dynamic artificial potential function
formation flight
forward dynamics
constraint dynamics
