无人机编队Dubins 航路规划及编队控制器设计

为完成无人机编队任务并解决无人机在飞行中因干扰而造成编队任务失败的问题，设计一种无人机编队 任务的Dubins 航路规划算法及控制器。根据无人机编队同时到达集结点的时间一致性要求，利用解析几何方法进行 航路设计，通过分析无人机飞行状态，设计了能够进行速度调整的控制器，并使用六自由度无人机模型验证了航路 算法及控制器的性能。仿真结果表明：该航路算法能够解算出各种编队任务的飞行航路，在控制器作用下能够很好 地完成编队任务。

Dubins Path Planning and Formation Controller Design for UAV Formation

In order to complete unmanned aerial vehicle (UAV) formation mission and solve the problem of UAV formation mission failure caused by interference in flight, a Dubins path planning algorithm and controller for UAV formation mission are designed. According to the time consistency requirement of UAV formation reaching the assembly point at the same time, the flight path is designed by analytic geometry method, and the controller which can adjust the flight speed is designed by analyzing the flight state of UAV. The performance of the route algorithm and controller is verified using a six-degree-of-freedom UAV model. The simulation results show that the algorithm can solve the flight paths of various formation missions and accomplish the formation task well under the controller.