Control method for anti-collision formation of UAVs in cooperation with ultraviolet communication
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摘要: 为了研究强电磁干扰环境下无人机防撞编队的避障控制效果, 采用无人机编队间紫外光通信模型, 对传统人工势场法进行改进, 给出了具体无人机编队机间和无人机与障碍物的势场函数, 实现无人机编队在飞行的同时可以进行局部避障。结果表明, 在相同条件下, 改进后的人工势场法比传统人工势场法的避障时间减少了7.38%, 避障总路径减少了5.8%, 将改进后的避障算法应用到编队中可实现无人机编队的机间避障与外部障碍物的规避, 且编队间能够保持固定队形飞行至目标点。这一结果对强电磁干扰环境下无人机编队避障的研究有一定的应用价值。Abstract: In order to study the obstacle avoidance control effect of unmanned aerial vehicle (UAV) anti-collision formation in the environment of strong electromagnetic interference, the ultraviolet light communication model between UAV formations was adopted, and the traditional artificial potential field method was improved. The potential field function of the UAV and the obstacle was established, with which the local obstacle avoidance while the UAV formation was flying was realized. The results show that with the improved artificial potential field method, the obstacle avoidance time reduces by 7.38% and the total obstacle avoidance path reduces by 5.8% compared with the traditional artificial potential field method under the same conditions. The improved obstacle avoidance algorithm is applied to the formation. It can realize the obstacle avoidance between the drones and the avoidance of external obstacles, the formation can maintain a fixed formation to fly to the target point. This result has certain application value for the research of UAV formation obstacle avoidance in strong electromagnetic interference environment.
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图 6 3种算法下无人机避障轨迹对比曲线
Figure 6. Comparison curve of UAV obstacle avoidance trajectory under three algorithms
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图 7 紫外光通信协作无人机防撞编队
Figure 7. Collision avoidance formation of UAVs in cooperation with ultraviolet communication
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图 8 防撞编队轨迹放大图
a—1、2号障碍物放大 b—3号障碍物放大
Figure 8. Enlarged view of anti-collision formation trajectory
a—enlargement of obstacles 1 and 2 b—enlargement of obstacle 3
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图 9 各无人机与领航者相对位置变化曲线
Figure 9. Relative position change curve of each drone and the navigator
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图 10 各无人机实际航迹与理想航迹对比曲线
Figure 10. Actual track and ideal track change curve of each UAV
表 1 编队初始仿真参数
Table 1 Initial simulation parameters of formation
drone spatial location qi/m speed vi/(m·s－1) pitch angle ωi/(°) yaw angle φi/(°) UAV1 [0, 9, 10]T 0 0 0 UAV2 [4, －3, 10]T 0 0 45 UAV3 [5, 1, 10]T 0 0 -45 UAV4 [3, 7, 10]T 0 0 90 UAV5 [6, 5, 10]T 0 0 0 
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表 2 障碍物参数信息
Table 2 Obstacle parameter information
obstacle spatial location qo/m radius/m minimum range ‖qi, o‖min/m maximum range ‖qi, o‖max/m 1 [16, 12, 10]T 1 2 10 2 [20, 19, 10]T 1.3 2.6 13 3 [40, 28, 10]T 1.3 2.6 13
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