| 无人机跟踪过程中的避障问题研究 |
| |
| 引用本文： | 夏生吉,王道波,罗东海,姜 燕.无人机跟踪过程中的避障问题研究[J].机械与电子,2022,0(11):61-65. |
| |
| 作者姓名： | 夏生吉 王道波 罗东海 姜 燕 |
| |
| 作者单位： | 南京航空航天大学,江苏 南京 211106 |
| |
| 摘 要： | 针对单架无人机跟踪单一目标问题,提出 Lyapunov 矢量场法和速度障碍法相结合的方法,保证 UAV 在执行跟踪任务时的安全。首先,建立无人机运动模型,通过基于 Lyapunov 矢量场法的航向控制使无人机能够收敛到极限环;其次,利用速度障碍法原理判断无人机与障碍物之间是否存在飞行冲突,推导出避障所需的航向控制量;最后,针对障碍物重叠情况,利用几何关系将重叠区域合并,再求解出航向控制量,完成对重叠威胁区域的避障。仿真结果表明,所提算法在单一障碍物和多障碍物的条件下,都能有效地跟踪目标并实现避障。
|
| 关 键 词： | 无人机 Lyapunov 矢量场 速度障碍法 障碍物重叠 避障 |
UAV Standoff Tracking Research Based on Lyapunov Vector Field |
| |
| XIA Shengji,WANG Daobo,LUO Donghai,JIANG Yan.UAV Standoff Tracking Research Based on Lyapunov Vector Field[J].Machinery & Electronics,2022,0(11):61-65. |
| |
| Authors: | XIA Shengji WANG Daobo LUO Donghai JIANG Yan |
| |
| Affiliation: | ( Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China ) |
| |
| Abstract: | Aiming at the problem of a single UAV tracking a single target , a method combining Lyapunov vector field method and velocity obstacle method is proposed to ensure the safety of UAV when performing tracking tasks.Firstly , the UAV motion model is established , and the UAV can converge to the limit cycle through the heading control based on the Lyapunov vector field method ; secondly , the principle of the speed obstacle method is used to determine whether there is a flight conflict between the UAV and the obstacle , and the heading control amount required for obstacle avoidance is derived ; finally , according to the overlapping situation of obstacles , the overlapping areas are merged by using the geometric relation- ship , and then the heading control amount is solved to complete the obstacle avoidance of the overlapping threat area.The simulation results show that the proposed algorithm can effectively track the target and avoid obstacles under the condition of a single obstacle and multiple obstacles. |
| |
| Keywords: | UAV Lyapunov vector field speed obstacle method obstacles overlap obstacle avoidance |
|
| 点击此处可从《机械与电子》浏览原始摘要信息 |
|
点击此处可从《机械与电子》下载全文 |
|
