Cooperative Path Planning for Rendezvous of Unmanned Aerial Vehicles
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摘要: 交会过程是多无人机（UAV）协同控制的重要组成部分，为此提出一种无人机恒速飞行交会过程的协同航迹规划方法.为兼顾航迹较短的迂回机动和航迹较长的盘旋机动方式，无人机实时计算至目标的最小机动距离，生成最短 Dubins 路径作为航迹参考.近程无人机在其基础上重新规划生成等待机动航迹，补偿与远程无人机的航程差.远程无人机同样根据该过程调整航迹，实现同时到达对目标的可攻击范围.无人机在该范围内沿 Dubins 路径飞行，以最小化执行时间，降低风险.仿真结果表明，所规划的协同航迹可实现无人机在目标可攻击范围的交会，同时控制规律容易实现，验证了算法的可行性和有效性.Abstract: Rendezvous is an important process of cooperative control for unmanned aerial vehicles (UAVs).Thus this paper investigates a cooperative path planning for rendezvous of UAVs with constant speed.To achieve both wandering maneuver with shorter range-to-go and circle maneuver with longer range-to-go, UAVs calculate the minimum maneuver distance to target in real time in order to plan a Dubins path as a reference.Based on this path, the UAV with shorter range-to-go re-plans the waiting maneuver to extend the path length.In addition, as the UAV with longer range-to-go also follows this manner, the UAVs will arrive at the boundary of the target execution range at the same time.To reduce the risk of collision in this range, the UAVs fly along the Dubins path to minimize the execution time.The simulation results show that the UAVs can perform cooperative path planning for rendezvous in target execution range by using the proposed method, and it is easy to implement the corresponding control law, which demonstrates the feasibility and effectiveness of the method.
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Keywords:
- UAV (unmanned aerial vehicle) /
- cooperative control /
- path planning /
- rendezvous /
- Dubins path
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