摘要
借鉴人在复杂动态环境中的自主防碰撞行为,可以构建具有认知防碰撞能力的无人机.针对认知防碰撞决策的有效性问题,将认知无人机与环境的动态交互过程作为整体,通过分析认知无人机–环境系统状态的运动模式,基于混合时间集建立了认知无人机–环境系统的脉冲微分包含(IDI)模型.按照认知无人机防碰撞过程的IDI运行机理,将系统状态空间划分为三类运行域,建立了认知无人机–环境系统的防碰撞稳定性定义,进而运用IDI理论,导出了使认知无人机–环境系统防碰撞稳定的充要条件.仿真实验结果表明,导出的防碰撞稳定条件可以为无人机认知防碰撞决策的有效性提供依据.
Benefited from autonomous collision avoidance behavior of human in some dynamic complex environment,it is possible to construct an unmanned aerial vehicle(UAV)with cognitive collision avoidance ability.For the validity problem of cognitive decision-making in collision avoidance,the dynamic interaction process between UAV and environment is considered integrally.By analyzing state running patterns of the cognitive unmanned aerial vehicle&environment system,the impulse differential inclusions(IDI)model of the cognitive unmanned aerial vehicle&environment system is established based on hybrid time trajectory.And the system state space is partitioned into three classes of running fields according to IDI running mechanism within cognitive UAV’s collision avoidance process,thus,the definition of collision avoidance stability for the cognitive unmanned aerial vehicle&environment system is established.Furthermore,the necessary and sufficient condition that guarantees the collision avoidance stability of the cognitive unmanned aerial vehicle&environment system is deduced by utilizing IDI theory.Finally,simulation experiment results verify that the proposed condition of collision avoidance stability can provide a basis for the validity of UAV’s cognitive decision-making in collision avoidance.
作者
魏瑞轩
倪天
赵晓林
张兴宇
WEI Rui-xuan;NI Tian;ZHAO Xiao-lin;ZHANG Xing-yu(Aeronautics Engineering College,Air Force Engineering University,Xi’an Shaanxi 710038,China;Unit 95835 of PLA,Malan Xinjiang 841700,China;Equipment Management and Unmanned Aerial Vehicle Engineering College,Air Force Engineering University,Xi’an Shaanxi 710051,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2019年第9期1453-1460,共8页
Control Theory & Applications
基金
国家自然科学基金项目(61573373,61503405)资助~~
关键词
无人机
防碰撞稳定
脉冲微分包含
认知决策
unmanned aerial vehicle
collision avoidance stability
impulse differential inclusions
cognitive decisionmaking
