基于多传感器网络的协同避障算法研究

发布时间：2019-04-20 14:19

【摘要】：近年来,我国加快低空领域的开放,无人机应用越来越普遍,但是低空领域环境复杂,为保障飞行途中的安全,我们既要保证无人机在执行任务的过程中实时躲避障碍物,也要保证集群中无人机之间互相避撞,所以无人机集群的避障研究显得尤为重要。本文提出基于多传感器网络模型的无人机多机协同避障算法,结合了多传感器网络中传感器结点之间通过局部合作引导整体运动的特点,解决无人机多机低空避障问题。本文重点给出基于多传感器网络的协同避障算法,算法主要解决以下四个基本问题:1)怎样在传感器结点可能发生碰撞的时候建立多传感器网络;2)怎样在建立的多传感器网络中完成传感器结点避障问题;3)怎样处理避障过程中新加入了传感器结点的问题;4)怎样在避障完成后传感器结点离开网络继续完成任务。在提出避障算法之后通过仿真验证算法正确性,仿真证明算法可以解决上述的四个问题,即在传感器结点可能发生碰撞的时候建立多传感器网络,在建立的多传感器网络中利用避障算法,各个传感器结点能够完成避障,并正确处理在网络中加入新结点的避障问题,以及完成避障任务后传感器结点安全离开网络继续完成任务直至任务完成。最后在实际低空应用环境中使用多架旋翼无人机进行飞行验证,通过在地面站中显示各个无人机的运动路径,实验显示本文提出的基于多传感器网络的协同避障算法可以很好地保障无人机飞行途中的安全。具体而言,与之前的多传感器网络研究相比,本文的主要贡献是:1)建立一个基于多传感器网络的避障框架;2)对无人机受力分析,通过计算无人机的最大速度以及加速度,保证无人机间以及无人机与障碍物之间始终保持一段距离。
[Abstract]:In recent years, China has accelerated the opening of the low-altitude domain, and the application of unmanned aerial vehicles (UAVs) has become more and more common. It is also necessary to avoid collision between UAVs in cluster, so the research on obstacle avoidance of UAV cluster is very important. This paper presents a multi-aircraft cooperative obstacle avoidance algorithm for UAV based on multi-sensor network model. Combined with the characteristics of local cooperation between sensor nodes in multi-sensor networks, the problem of multi-aircraft low-altitude obstacle avoidance is solved. This paper focuses on the cooperative obstacle avoidance algorithm based on multi-sensor networks. The algorithm mainly solves the following four basic problems: 1) how to establish multi-sensor networks when the sensor nodes are likely to collide; 2) how to avoid the sensor node in the multi-sensor network; 3) how to deal with the new sensor node in the process of obstacle avoidance; 4) how to finish the task after the sensor node leaves the network after the obstacle avoidance is completed. After the obstacle avoidance algorithm is put forward, the correctness of the algorithm is verified by simulation. The simulation proves that the algorithm can solve the above four problems, that is, to build a multi-sensor network when the sensor node may collide. By using obstacle avoidance algorithm in multi-sensor networks, each sensor node can avoid obstacles and correctly deal with the obstacle avoidance problem of adding new nodes to the network. After completing the obstacle avoidance task, the sensor node safely leaves the network and continues to complete the task until the task is completed. Finally, in the actual low-altitude application environment, we use multiple rotor UAVs to carry out flight verification, and show the motion paths of each UAV in the ground station. Experiments show that the proposed cooperative obstacle avoidance algorithm based on multi-sensor networks can ensure the safety of UAV in flight. Specifically, compared with the previous research on multi-sensor networks, the main contributions of this paper are as follows: 1) establish a framework of obstacle avoidance based on multi-sensor networks; 2) by calculating the maximum velocity and acceleration of the UAV, the distance between the UAV and the obstacle is always maintained.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;V249;TP212.9

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