| 基于多Agent的无人机自主飞行控制系统研究 |
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| 引用本文： | 王峰,吴庆宪,姜长生.基于多Agent的无人机自主飞行控制系统研究[J].电光与控制,2009,16(8). |
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| 作者姓名： | 王峰 吴庆宪 姜长生 |
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| 作者单位： | 南京航空航天大学,南京,210016 |
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| 基金项目： | 航空支撑基金资助(05C52007);;国家自然基金资助(90716028) |
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| 摘 要： | 提出一种分层递阶多Agent控制结构,在此控制结构的基础上设计出一种无人机自主飞行控制系统。重点对系统中的任务规划Agent和姿态控制Agent进行研究,分别实现了对任务规划Agent的结构建模和姿态控制Agent的内部控制律设计,最后在JADE平台上仿真实现了无人机的姿态角控制。实验结果表明,在多Agent系统与先进控制方法交叉、融合的基础上,设计出的自主飞行控制系统具有很好的控制效果和很高的智能能力,非常适合无人机自主飞行控制设计。
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| 关 键 词： | 无人机 飞行控制 多Agent系统 任务规划Agent 姿态控制Agent JADE |
Research on Autonomous Flight Control System for UAV Based on Multi-Agent System |
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| WANG Feng,WU Qingxian,JIANG Changsheng.Research on Autonomous Flight Control System for UAV Based on Multi-Agent System[J].Electronics Optics & Control,2009,16(8). |
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| Authors: | WANG Feng WU Qingxian JIANG Changsheng |
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| Affiliation: | Nanjing University of Aeronautics and Astronautics;Nanjing 210016;China |
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| Abstract: | This paper presents a hierarchical Multi-Agent System(MAS) control architecture for the autonomous flight control system of Uninhabited Aerial Vehicle(UAV).We mainly studied the Task Plan Agent and Attitude Control Agent of the system,implemented structure modeling of the Task Plan Agent and designed an inner control law for the Attitude Control Agent.Attitude control simulation of UAV was carried out on the JADE platform.The result demonstrated that: combining MAS with advanced control methods,the proposed... |
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| Keywords: | UAV flight control Multi-Agent system Task Plan Agent Attitude Control Agent JADE |
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