面向无人机自主防碰撞的认知博弈制导控制

针对非隔离空域中的无人机碰撞规避问题,提出一种基于认知博弈制导的无人机自主防碰撞方法.首先,描述了非隔离空域中无人机自主防碰撞控制问题.其次,建立了无人机与入侵机的运动学模型,并构建了无人机的认知安全域,将无人机碰撞规避问题转化为涉及两方的博弈问题.然后,提出了制导策略集的求解方法.最后,仿真结果验证了所提方法的有效性.

Guidance control of cognitive game for unmanned aerial vehicleautonomous collision avoidance

For the problem of unmanned aerial vehicle (UAV) collision avoidance in non-segregated airspace, a novel UAV autonomous collision avoidance control method based on guidance of cognitive game was proposed. First, UAV collision avoidance control problem in non-segregated airspace was described. Secondly, kinematics model of a UAV and the invasion vehicle was built. Also, cognitive safety region for a UAV was established. Thus, UAV collision avoidance problem was changed into a game problem involving two parties. Then, solving method for the set of guidance policy was proposed. Finally, the simulation results have verified effectiveness of the proposed method.