基于预测控制的无人机编队内部避碰

UAV Team’s Collision Avoidance Using Predictive Control

摘要:

针对无人机编队内部避碰问题,首先采用基于预测控制的方法,解决了在即将发生碰撞情况下无人机的航向调整问题；然后,建立了航路回归模型,解决了无人机避碰后,迅速回归预定航路的问题。仿真结果表明,文章给 出的避碰方法能够有效解决无人机编队内部碰撞问题。

Abstract:

In order to solve the collision avoidance problem between multi-UAV, the paper studied the UAV head adjust.ing problem before the collision based on predictive control. And then we presented the air route regression model. Itsolved the problem that UAV returned scheduled air route after avoiding collision. Finally, the simulation result showedthat the collision avoidance method can solve the multi-UAV collision problem effectively.