基于路径-速度解耦的无人机编队协同轨迹规划

doi:10.3969/j.issn.1001-506X.2020.09.13

系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (9): 1976-1987.doi: 10.3969/j.issn.1001-506X.2020.09.13

基于路径-速度解耦的无人机编队协同轨迹规划

张洪海^1,*(), 钱晓鹏^1,²(), 吴鑫炜³(), 刘皞¹(), 田宇¹(), 王立超¹()

1. 南京航空航天大学民航学院, 江苏南京 211106
2. 中国人民解放军94587部队, 江苏连云港 222000
3. 中航空管系统装备有限公司, 上海 200241

收稿日期:2019-11-20 出版日期:2020-08-26 发布日期:2020-08-26
通讯作者: 张洪海 E-mail:honghaizhang@nuaa.edu.cn;1205283936@qq.com;746037567@qq.com;hliu@nuaa.com;yut@nuaa.edu.cn;625463602@qq.com
作者简介:钱晓鹏 (1993-),男,硕士研究生,主要研究方向为无人机编队运行管控。E-mail:1205283936@qq.com|吴鑫炜 (1985-),男,工程师,硕士,主要研究方向为航空电子与通信。E-mail:746037567@qq.com|刘皞(1979-),男,副教授,硕士研究生导师，博士，主要研究方向为数学计算。E-mail:hliu@nuaa.com|田宇 (1995-),女,硕士研究生,主要研究方向为无人机运行管控。E-mail:yut@nuaa.edu.cn|王立超 (1994-),男,硕士研究生,主要研究方向为无人机运行管控。E-mail:625463602@qq.com
基金资助:
国家自然科学基金(61573181);国家自然科学基金(71971114);空中交通管理系统与技术国家重点实验室开放基金(SKLATM201801)

Cooperative trajectory planning for UAV formation based onpath-speed decoupling

Honghai ZHANG^1,*(), Xiaopeng QIAN^1,²(), Xinwei WU³(), Hao LIU¹(), Yu TIAN¹(), Lichao WANG¹()

1. School of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
2. Unit 94587of the PLA, Lianyungang 222000, China
3. AVIC ATM System & Equipment Copporation Limited, Shanghai 200241, China

Received:2019-11-20 Online:2020-08-26 Published:2020-08-26
Contact: Honghai ZHANG E-mail:honghaizhang@nuaa.edu.cn;1205283936@qq.com;746037567@qq.com;hliu@nuaa.com;yut@nuaa.edu.cn;625463602@qq.com

摘要/Abstract

摘要：

针对无人机编队在复杂机动情形下的协同轨迹规划问题,提出了一种基于路径-速度解耦方法的预瞄自适应轨迹规划方法。在路径规划阶段,考虑无人机转弯机动的曲率限制,采用Dubins曲线作为路径构成的基本子结构。为得到最优的Dubins曲线连接控制点,设计了自适应预跟随路径特征的预瞄距离规划算法。在速度规划阶段,针对控制参数化与时间离散化(control parameterization and time discretization, CPTD)的速度规划方法,提出了栅格化空域下差异区间速度规划方法,简称为DIPR。仿真结果表明,预瞄距离自适应算法能够有效优化路径，对比固定预瞄距离方法在转向弧度上平均减少30.70%,在跟踪偏离上减少16.41%,在路径长度上缩短10.87%。对比CPTD方法, DIPR平均提前30代收敛,收敛值平均提高10.67%,编队完成队形集结时间平均缩短15.4 s。得到结果更快更优,并且速度曲线结果连续平滑。

关键词: 无人机, 编队, 轨迹规划, 安全间隔, Dubins曲线, 栅格化

Abstract:

Aiming at the problem of cooperative trajectory planning for unmanned aerial vehicle (UAV) formation in complex maneuvering situation, a preview adaptive trajectory planning method based on path-speed decoupling method is proposed. In the path planning stage, considering the maneuvering curvature restrictions of UAV turning motion, the Dubins curve is used as the basic substructure of the path. In order to obtain the optimal connection control point of the Dubins curve, a preview distance planning algorithm with adaptive prefollowing path characteristics is designed. In the velocity planning stage, aiming at the control parameterization and time discretization(CPTD) velocity planning method, a differential zone velocity planning method under rasterized airspace is proposed, which is shortened to DIPR. The simulation results show that the preview distance adaptive algorithm can effectively optimize the path. Compared with t he fixed preview distance method, the turning degree is reduced by an average 30.70%, and the tracking deviation is reduced by 16.41%, the path length is decreased by 10.87%. Compared with CPTD method, DIPR converges 30 generation earlier, and the convergence value increases by 10.67% in average. The formation time is reduced by an average of 15.4 s. The results are obtained faster and better, and the speed curve results are continuous and smooth.

Key words: unmanned aerial vehicle (UAV), formation, trajectory planning, safety interval, Dubins curve, rasterization

中图分类号:

张洪海, 钱晓鹏, 吴鑫炜, 刘皞, 田宇, 王立超. 基于路径-速度解耦的无人机编队协同轨迹规划[J]. 系统工程与电子技术, 2020, 42(9): 1976-1987.

Honghai ZHANG, Xiaopeng QIAN, Xinwei WU, Hao LIU, Yu TIAN, Lichao WANG. Cooperative trajectory planning for UAV formation based onpath-speed decoupling[J]. Systems Engineering and Electronics, 2020, 42(9): 1976-1987.

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参考文献 22

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跟随机编号	初始相对位置/m	初始相对航向/(°)	初始速度大小/(m/s)	目标相对位置/m	目标相对航向/(°)	目标速度大小/(m/s)
1	(0, -150)	0	9.9	(-50, -503)	0	6.25
2	(-200, -100)	30	7.5	(50, -503)	0	6.25
3	(50, -300)	-15	8	(-100, -1003)	0	6.25
4	(150, -130)	30	6.25	(100, -1003)	0	6.25

方法	指标	1号	2号	3号	4号	平均
固定预瞄距离	转向弧度/rad	1.41	1.59	1.74	5.03	2.44
	跟踪偏离/m	45.79	93.16	96.64	45.65	70.31
	路径长度/m	618.47	587.34	793.88	590.81	647.63
预瞄点自适应	转向弧度/rad	1.47	0.52	1.63	3.15	1.69
	跟踪偏离/m	32.09	99.34	76.97	26.76	58.79
	路径长度/m	593.50	501.50	782.50	431.50	577.25

算法	单次迭代耗时/s	平均收敛代数	适应度收敛值
DE	1.11	60	0.897 8
PSO	1.20	47	0.920 3
BAS	3.31	43	0.911 3
GDGA	1.42	5	0.921 5

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基于路径-速度解耦的无人机编队协同轨迹规划

Cooperative trajectory planning for UAV formation based onpath-speed decoupling

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