UG环球注册:Research status and development of multi UAV coordinated formation flight control

新2备用网址/2020-06-26/ 分类:科技/阅读:

无人机在军事和民用应用上越来越普及,为使无人道可以或许更好地施展浸染,必要回收多无人机编队航行节制来实现协同侦探、作战、防止及喷洒农药等使命.多无人机协同编队节制技能首要包罗信息感知技能、数据融合技能、使命分派技能、航迹筹划技能、编队节制技能、通讯组网技能和假造/实物验证尝试平台技能等.起首对海表里多无人机编队相干技能的近况和盼望举办综述,然后重点对多无人机编队节制要领举办说明,并对队形计划、队形调解和队形重构等题目举办归纳总结,末了对多无人机协同编队所面对的机会和挑衅举办了瞻望.功效表白:今朝多无人机编队航行理论方面取得了厚实成就,可是实物航行试验仅能实现简朴通讯环境下的协同编队航行,使命分派和航迹筹划及时性不高,节制要领应对突发情形鲁棒性低,多机多传感器协同感知手段不敷,短缺对实体的仿真实现,将来的研究偏向应是打破上述要害技能的不敷,开展伟大感知束缚和伟大通讯环境下的多无人机协同编队夯叫研究,提出越发有用的节制要领,并举办多无人机实物编队航行试验,使无人道可以或许更好地完成既定使命.

Abstract:

It is well known that unmanned aerial vehicle (UAV) is more and more widely applied in military and civil areas.In order to play the better role of UAV,it is needed to utilize multi UAVs cooperative formation to accomplish cooperative reconnaissance,combat,defense and spraying pesticides and other tasks.The multi UAVs cooperative formation control technology mainly contains the following key techniques:data fusion technology,sensing technology,task allocation technology,path planning technology,formation control technology,communication network technology and virtual/physical verification platform technology.Firstly,summarize the research and development of key technologies worldwide.Then,the classification for multi UAVs formation control methods is mainly investigated,and the problems about formation design and adjustment,formation reconfiguration are summarized.Finally,the challenges and future development for multi UAV cooperative formation are prospected.Research shows:at present,the theory of multi UAV formation flight has acquired fruitful results,while the real cooperative formation flight test can only be implemented in the simple communication environment.The real time performance for task allocation and path planning is not high.The robustness of control methods to cope with the unexpected situation is low.The cooperative sensing ability for multi UAV with multi sensor is insufficient.The simulation of the entity is lacked.Breaking through the above key technologies,carrying out the cooperative formation flight of multi UAV in complex sensing constraints and complex communication environment,putting forward more effective control method and carrying out the UAV physical formation flying test so that the UAV can finish the task better may be the future research directions.

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