基于态势预测的无人机防相撞控制方法

发布时间：2018-06-21 00:00

  本文选题：无人机 + 防相撞控制　； 参考：《火力与指挥控制》2017年11期

【摘要】：针对无人机自主飞行过程中,受空中非协作移动目标威胁较大,且空中移动威胁存在高机动性的特点,提出一种预测移动威胁情况下的无人机防撞控制方法,该方法采用交互多模(IMM)算法预测移动威胁的运动状态,同时利用滚动时域控制(RHC)思想建立无人机运动控制模型,构造有约束目标函数,运用微分进化算法(DE)求解目标函数,获取最优控制量,输入控制模型,完成防撞机动控制。仿真结果表明,该方法可以有效解决空中多架航空器同时入侵的防撞问题。
[Abstract]:In view of the fact that UAV is threatened by non-cooperative moving targets in the air and has high mobility during autonomous flight, an anti-collision control method for UAV is proposed to predict the mobile threat. In this method, the interactive multimode IMM algorithm is used to predict the motion state of mobile threats, and the moving control model of UAV is established by using the idea of rolling time domain control (RHCC). The constrained objective function is constructed, and the objective function is solved by using differential evolution algorithm (DED). The optimal control quantity is obtained and the control model is inputted to complete the anti-collision maneuver control. The simulation results show that this method can effectively solve the collision prevention problem of multiple aircraft invading simultaneously in the air.
【作者单位】： 空军工程大学空管领航学院;
【基金】：国家自然科学基金青年基金资助项目(61503409)
【分类号】：TP18;V249;V279
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本文编号：2046229