UG环球开户:Research status and development of multi UAV coordinated formation flight control

安庆新闻网/2020-06-26/ 分类:安庆科技/阅读:

无人机在军事和民用应用上越来越遍及,为使无人性可以或许更好地发挥浸染,需要回收多无人机编队航行节制来实现协同侦察、作战、防止及喷洒农药等任务.多无人机协同编队节制技能主要包罗信息感知技能、数据融合技能、任务分派技能、航迹筹划技能、编队节制技能、通信组网技能和虚拟/实物验证尝试平台技能等.首先对海表里多无人机编队相关技能的近况和希望举办综述,然后重点对多无人机编队节制要领举办阐明,并对队形设计、队形调解和队形重构等问题举办归纳总结,最后对多无人机协同编队所面对的机会和挑战举办了展望.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信环境下的协同编队航行,任务分派和航迹筹划及时性不高,节制要领应对突发情况鲁棒性低,多机多传感器协同感知本领不敷,欠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,开展巨大感知约束和巨大通信环境下的多无人机协同编队夯叫研究,提出越发有效的节制要领,并举办多无人机实物编队航行试验,使无人性可以或许更好地完成既定任务.

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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