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A Dense Autonomous Formation Control Method for Air Vehicles Based on Transparency Hypothesis

A control method and technology of light transmittance, applied in adaptive control, traffic control system, general control system, etc., can solve problems such as the probability of difficult collision, and achieve the effect of reducing the probability of collision

Active Publication Date: 2016-08-17
BEIHANG UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the problem that the existing multi-aircraft formation technology is difficult to reduce the collision probability of aircraft in dense formation, and propose a dense autonomous formation control method for aircraft based on the light transmission hypothesis

Method used

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  • A Dense Autonomous Formation Control Method for Air Vehicles Based on Transparency Hypothesis
  • A Dense Autonomous Formation Control Method for Air Vehicles Based on Transparency Hypothesis
  • A Dense Autonomous Formation Control Method for Air Vehicles Based on Transparency Hypothesis

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Embodiment 1

[0071] For the same dense formation simulation scene, the LMPC formation controllers that are disconnected and connected to avoid light transmission are simulated respectively, and the anti-collision performance of the LMPC formation controller designed by the present invention is verified on the one hand; By comparison, the influence of the light transmission avoidance algorithm on the anti-collision effect of the formation is analyzed, and the feasibility and effectiveness of the light transmission hypothesis are verified.

[0072] (1) Simulation scene setting.

[0073] The simulation scenario is set as a triangular formation consisting of 21 nodes is disturbed by a faulty node. For convenience, it is assumed that the initial speed of all nodes is the same, which is 0.44Ma (150m / s, Ma is the Mach number), and the speed adjustable range is limited to 0.3-0.6Ma (100-200m / s), see Table 2, and the initial position coordinates are shown in Figure 5 , the distance between nodes ...

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Abstract

The invention discloses a light transmission hypothesis based intensive autonomous aerial vehicle formation control method, and belongs to the technical field of control on autonomous formation of unmanned aerial vehicles. In order to solve the problem that collision probability during intensive aerial vehicle formation is difficult to lower in existing multi-aerial-vehicle formation technology, on the basis of researching the group anti-collision problem, particularity of intensive group anti-collision is analyzed, a light transmission hypothesis of an intensive group anti-collision mechanism is proposed according to group behaviors of animals in the natural word, and a light transmission generation protocol is designed for generating light transmission coefficients of each node in representation formation; the light transmission hypothesis and a model predicative control formation controller are combined, a local predictive model for formation is established, and an LMPC ( local model predictive control) formation controller is designed; the LMPC formation controller is combined with the light transmission coefficients, a light-transmission avoidance algorithm allowing each node to follow the light transmission hypothesis to perform collision avoidance behaviors is given, and collision probability in case of intensive formation is lowered effectively.

Description

technical field [0001] The invention belongs to the technical field of autonomous formation control of unmanned aerial vehicles, and specifically relates to a dense autonomous formation control method for unmanned aerial vehicles. Background technique [0002] In the case of a dense formation of multiple aircraft, the distance between the aircraft is close to the minimum safe distance, and for a specific aircraft in the formation, because there are other aircraft distributed around it, there is no free movement space, which makes the aircraft The collision avoidance maneuver (such as avoiding the undesired movement of adjacent aircraft due to various random disturbances or some unexpected situations or failures) is more difficult and complicated than that of loose or close formation, which is also the requirement of formation control system in the case of dense formation considerations. On the other hand, due to the limitation of aircraft payload and cost control, it is not...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G08G9/02
Inventor 吴森堂张杰杜阳贾翔刘本慧
Owner BEIHANG UNIV
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