基于定向A*算法的多无人机同时集结分步策略
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摘要
设计一种基于定向A*算法的多无人机同时集结分步策略.首先,提出一种定向A*算法,将无人机最大俯仰角与偏航角作为A*算法搜索约束,从而缩小节点扩展区域,并通过循环寻优规避"死区"点,进而产生平滑可飞的预规划航迹;其次,论述了补偿航程差的变步长多点搜索、三维盘旋机动、虚拟威胁等分步再规划算法,使得多无人机同时集结于目标点附近.仿真结果表明,所提出的算法能够有效完成多无人机同时集结任务.
In this paper, a serial strategy based on the directional A* algorithm for multiple UAVs is proposed. Firstly,the directional A* algorithm is presented to create a smooth and feasible pre-planning route, in which the maximum pitch and yaw angles are used as search constraints of the A* algorithm to narrow expansion area of nodes, and the successive trial and error procedure is adopted to avoid "dead zones". Then, the serial re-planning algorithm is discussed to extend the path length for aggregating at the same time, which generally consists of three steps: variable step size and multiple nodes, three-dimensional circle maneuver and virtual threats. Finally, the effectiveness of the proposed algorithm is demonstrated using numerical simulation.
In this paper, a serial strategy based on the directional A* algorithm for multiple UAVs is proposed. Firstly,the directional A* algorithm is presented to create a smooth and feasible pre-planning route, in which the maximum pitch and yaw angles are used as search constraints of the A* algorithm to narrow expansion area of nodes, and the successive trial and error procedure is adopted to avoid "dead zones". Then, the serial re-planning algorithm is discussed to extend the path length for aggregating at the same time, which generally consists of three steps: variable step size and multiple nodes, three-dimensional circle maneuver and virtual threats. Finally, the effectiveness of the proposed algorithm is demonstrated using numerical simulation.
引文
[1]Wang Q,Zhang A,Qi L.Three-dimensional path planning for UAV based on improved PSO algorithm[C].The 26th Chinese Control and Decision Conf.Changsha:IEEE,2014:3981-3985.
[2]Tao J,Wang Y,Yang H,et al.Three-dimensional path planning of unmanned aerial vehicle under complicated environment[C].The 26th Chinese Control and Decision Conf.Yinchuan:IEEE,2016:6377-6382.
[3]Mou C,Jian X,Jiang C S.Three dimensional path planning of UAV with improved ant algorithm[J].J of Jilin University,2008,38(4):991-995.
[4]赵文婷,彭俊毅.基于VORONOI图的无人机航迹规划[J].系统仿真学报,2006,18(22):159-162.(Zhao W T,Peng J Y.VORONOI diagram-based path planning for UAVs[J].J of System Simulation,2006,18(22):159-162.)
[5]张启瑞,魏瑞轩,何仁珂,等.城市密集不规则障碍空间无人机航路规划[J].控制理论与应用,2015,32(10):1407-1413.(Zhang Q R,Wei R X,He R K,et al.Path planning for unmanned aerial vehicle in urban space crowded with irregular obstacles[J].Control Theory&Applications,2015,32(10):1407-1413.)
[6]谭雁英,李洋,周军,等.复杂环境下基于A*算法的无人机路径再规划[J].系统工程与电子技术,2017,39(6):1268-1273.(Tan Y Y,Li Y,Zhou J,et al.Path replanning approach for UAV based on A*algorithm in complex environment[J].Systems Engineering and Electronics,2017,39(6):1268-1273.)
[7]Ren T,Zhou R,Xia J,et al.Three-dimensional path planning of UAV based on an improved A*algorithm[C].Guidance,Navigation and Control Conf.Nanjing:IEEE,2017:140-145.
[8]Tan J,Zhao L,Wang Y,et al.The 3D path planning based on A*algorithm and artificial potential field for the rotary-wing flying robot[C].Int Conf on Intelligent Human-Machine Systems and Cybernetics.Hangzhou:IEEE,2016:5551-556.
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[12]孙小雷,孟宇麟,齐乃明,等.多无人机交会过程的协同航迹规划方法[J].机器人,2015,37(5):621-627.(Sun X L,Meng Y L,Qi N M,et al.Cooperative path planning for rendezvous of unmanned aerial vehicles[J].Robot,2015,37(5):621-627.)
[13]关旭宁,魏瑞轩,郭庆,等.多无人机时序到达协同控制方法[J].电光与控制,2014,21(1):18-22.(Guan X N,Wei R X,Guo Q,et al.A Cooperative control method for tight sequencing arrival of multiple UAVs[J].Electronics Optics&Control,2014,21(1):18-22.)
[14]Manathara J G,Ghose D.Rendezvous of multiple UAVs with collision avoidance using consensus[J].J of Aerospace Engineering,2012,25(4):480-489.
[15]Owen M,Nichols J,Colton M.Cooperative aerial tracking and rendezvous along time-optimal 3-dimensional curves[C].AIAA Guidance,Navigation,and Control Conf.Portland,2011:1-14.
[16]肖自兵,袁冬莉,屈耀红.基于A*定长搜索算法的多无人机协同航迹规划[J].飞行力学,2012,30(1):92-96.(Xiao Z B,Yuan D L,Qu Y H.Multi-UAVs cooperative path planning based on A*fixed length search algorithm[J].Flight Dynamics,2012,30(1):92-96.)
[17]Lim S,Kim Y,Lee D,et al.Standoff target tracking using a vector field for multiple unmanned aircrafts[J].J of Intelligent&Robotic Systems,2013,69(1/2/3/4):347-360.
[18]胡春鹤,陈宗基.多无人机空中加油的最优会合航路规划[J].控制理论与应用,2015,32(10):1400-1406.(Hu C H,Chen Z J.Optimal rendezvous path planning for multiple unmanned aerial vehicle on air refueling[J].Control Theory&Applications,2015,32(10):1400-1406.)
[2]Tao J,Wang Y,Yang H,et al.Three-dimensional path planning of unmanned aerial vehicle under complicated environment[C].The 26th Chinese Control and Decision Conf.Yinchuan:IEEE,2016:6377-6382.
[3]Mou C,Jian X,Jiang C S.Three dimensional path planning of UAV with improved ant algorithm[J].J of Jilin University,2008,38(4):991-995.
[4]赵文婷,彭俊毅.基于VORONOI图的无人机航迹规划[J].系统仿真学报,2006,18(22):159-162.(Zhao W T,Peng J Y.VORONOI diagram-based path planning for UAVs[J].J of System Simulation,2006,18(22):159-162.)
[5]张启瑞,魏瑞轩,何仁珂,等.城市密集不规则障碍空间无人机航路规划[J].控制理论与应用,2015,32(10):1407-1413.(Zhang Q R,Wei R X,He R K,et al.Path planning for unmanned aerial vehicle in urban space crowded with irregular obstacles[J].Control Theory&Applications,2015,32(10):1407-1413.)
[6]谭雁英,李洋,周军,等.复杂环境下基于A*算法的无人机路径再规划[J].系统工程与电子技术,2017,39(6):1268-1273.(Tan Y Y,Li Y,Zhou J,et al.Path replanning approach for UAV based on A*algorithm in complex environment[J].Systems Engineering and Electronics,2017,39(6):1268-1273.)
[7]Ren T,Zhou R,Xia J,et al.Three-dimensional path planning of UAV based on an improved A*algorithm[C].Guidance,Navigation and Control Conf.Nanjing:IEEE,2017:140-145.
[8]Tan J,Zhao L,Wang Y,et al.The 3D path planning based on A*algorithm and artificial potential field for the rotary-wing flying robot[C].Int Conf on Intelligent Human-Machine Systems and Cybernetics.Hangzhou:IEEE,2016:5551-556.
[9]程晓明,曹东,李春涛.多无人机协同航迹规划技术研究[J].航空计算技术,2014,44(4):71-75.(Cheng X M,Cao D,Li C T.Cooperative Path Planning for multiple UAVs[J].Aeronautical Computing Technique,2014,44(4):71-75.)
[10]Mclain T W,Beard R W.Coordination variables,coordination functions,and cooperative timing missions[J].J of Guidance,Control,&Dynamics,2005,28(1):150-161.
[11]袁利平,陈宗基,周锐,等.多无人机同时到达的分散化控制方法[J].航空学报,2010,31(4):797-805.(Yuan L P,Chen Z J,Zhou R,et al.Decentralized control for simultaneous arrival of multiple UAVs[J].Acta Aeronautica et Astronautica Sinica,2010,31(4):797-805.)
[12]孙小雷,孟宇麟,齐乃明,等.多无人机交会过程的协同航迹规划方法[J].机器人,2015,37(5):621-627.(Sun X L,Meng Y L,Qi N M,et al.Cooperative path planning for rendezvous of unmanned aerial vehicles[J].Robot,2015,37(5):621-627.)
[13]关旭宁,魏瑞轩,郭庆,等.多无人机时序到达协同控制方法[J].电光与控制,2014,21(1):18-22.(Guan X N,Wei R X,Guo Q,et al.A Cooperative control method for tight sequencing arrival of multiple UAVs[J].Electronics Optics&Control,2014,21(1):18-22.)
[14]Manathara J G,Ghose D.Rendezvous of multiple UAVs with collision avoidance using consensus[J].J of Aerospace Engineering,2012,25(4):480-489.
[15]Owen M,Nichols J,Colton M.Cooperative aerial tracking and rendezvous along time-optimal 3-dimensional curves[C].AIAA Guidance,Navigation,and Control Conf.Portland,2011:1-14.
[16]肖自兵,袁冬莉,屈耀红.基于A*定长搜索算法的多无人机协同航迹规划[J].飞行力学,2012,30(1):92-96.(Xiao Z B,Yuan D L,Qu Y H.Multi-UAVs cooperative path planning based on A*fixed length search algorithm[J].Flight Dynamics,2012,30(1):92-96.)
[17]Lim S,Kim Y,Lee D,et al.Standoff target tracking using a vector field for multiple unmanned aircrafts[J].J of Intelligent&Robotic Systems,2013,69(1/2/3/4):347-360.
[18]胡春鹤,陈宗基.多无人机空中加油的最优会合航路规划[J].控制理论与应用,2015,32(10):1400-1406.(Hu C H,Chen Z J.Optimal rendezvous path planning for multiple unmanned aerial vehicle on air refueling[J].Control Theory&Applications,2015,32(10):1400-1406.)