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兵工学报 ›› 2023, Vol. 44 ›› Issue (9): 2685-2696.doi: 10.12382/bgxb.2022.0525

所属专题: 智能系统与装备技术

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复杂环境下多无人机目标跟踪与避障联合航迹规划

赵军民1,2, 何浩哲2,*(), 王少奇2, 聂聪2, 焦迎杰2   

  1. 1 西北工业大学 航天学院, 陕西 西安 710072
    2 西安现代控制技术研究所, 陕西 西安 710065
  • 收稿日期:2022-06-13 上线日期:2022-09-27
  • 通讯作者:

Joint Trajectory Planning for Multiple UAVs Target Tracking and Obstacle Avoidance in a Complicated Environment

ZHAO Junmin1,2, HE Haozhe2,*(), WANG Shaoqi2, NIE Cong2, JIAO Yingjie2   

  1. 1 School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China
    2 Xi'an Modern Control Technology Research Institute, Xi'an 710065, Shaanxi, China
  • Received:2022-06-13 Online:2022-09-27

摘要:

针对多无人机在密集障碍环境中协同执行地面目标跟踪任务时存在避障能力不足的问题,提出一种基于零空间方法的多无人机目标跟踪与避障联合航迹规划算法。利用Lyapunov导引向量场得到协同对地面目标进行Standoff跟踪时的无人机目标跟踪速度指令,构建障碍物模型和避障人工势场函数,利用人工势场方法得到无人机避障速度指令;基于零空间方法,将避障任务设定为高优先级任务,通过将目标跟踪速度指令向避障任务零空间投影后再与避障速度指令相加的联合航迹规划方法,获取综合后的无人机速度指令。通过仿真分析验证联合航迹规划方法的有效性。仿真结果表明,联合航迹规划方法能够在密集障碍物存在的复杂环境中实时规划有效航迹,保证多无人机避开密集障碍物,持续跟踪目标,并且多无人机具有良好的协同性。

关键词: 无人机, 目标跟踪, 避障, 航迹规划, 零空间方法

Abstract:

In scenarios where multiple UAVs need to collaborate in ground target tracking tasks within obstacle-dense environments, the obstacle avoidance ability may be insufficient. To address this challenge, we propose a joint trajectory planning algorithm for multiple UAVs, enabling them to simultaneously track targets and avoid obstacles using the null-space method. First, Lyapunov guidance vector field is used to obtain the target tracking velocity command for UAVs when they perform standoff tracking to the ground target coordinately. Obstacle model and artificial potential field function for obstacle avoidance are established, and the obstacle avoidance velocity command for UAVs is obtained by using artificial potential field method. Second, based on the null-space method, the obstacle avoidance task is set as a high-priority task, and the integrated UAV velocity command is obtained through the joint trajectory planning method, which projects the target tracking velocity command into the null-space of the obstacle avoidance task and then adds it to the obstacle avoidance velocity command. Through simulation analysis, the effectiveness of the proposed method is verified. Simulated results show that the proposed joint trajectory planning method can plan effective trajectories for multiple UAVs in real time in complex environments with dense obstacles, and ensure that UAVs avoid dense obstacles and maintain target tracking with good coordination between UAVs.

Key words: unmanned aerial vehicle, target tracking, obstacle avoidance, trajectory planning, null-space method

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