期刊检索

  • 2024年第56卷
  • 2023年第55卷
  • 2022年第54卷
  • 2021年第53卷
  • 2020年第52卷
  • 2019年第51卷
  • 2018年第50卷
  • 2017年第49卷
  • 2016年第48卷
  • 2015年第47卷
  • 2014年第46卷
  • 2013年第45卷
  • 2012年第44卷
  • 2011年第43卷
  • 2010年第42卷
  • 第1期
  • 第2期

主管单位 中华人民共和国
工业和信息化部
主办单位 哈尔滨工业大学 主编 李隆球 国际刊号ISSN 0367-6234 国内刊号CN 23-1235/T

期刊网站二维码
微信公众号二维码
引用本文:宗群,王丹丹,邵士凯,张博渊,韩宇.多无人机协同编队飞行控制研究现状及发展[J].哈尔滨工业大学学报,2017,49(3):1.DOI:10.11918/j.issn.0367-6234.2017.03.001
ZONG Qun,WANG Dandan,SHAO Shikai,ZHANG Boyuan,HAN Yu.Research status and development of multi UAV coordinated formation flight control[J].Journal of Harbin Institute of Technology,2017,49(3):1.DOI:10.11918/j.issn.0367-6234.2017.03.001
【打印本页】   【HTML】   【下载PDF全文】   查看/发表评论  下载PDF阅读器  关闭
过刊浏览    高级检索
本文已被:浏览 8243次   下载 7526 本文二维码信息
码上扫一扫!
分享到: 微信 更多
多无人机协同编队飞行控制研究现状及发展
宗群1,王丹丹1,邵士凯1,张博渊1,韩宇2
(1.天津大学 电气与自动化工程学院, 天津 300072; 2.天津大学 电子信息工程学院,天津 300072)
摘要:
无人机在军事和民用应用上越来越广泛,为使无人机能够更好地发挥作用,需要采用多无人机编队飞行控制来实现协同侦察、作战、防御及喷洒农药等任务.多无人机协同编队控制技术主要包括信息感知技术、数据融合技术、任务分配技术、航迹规划技术、编队控制技术、通信组网技术和虚拟/实物验证实验平台技术等.首先对国内外多无人机编队相关技术的现状和进展进行综述,然后重点对多无人机编队控制方法进行分析,并对队形设计、队形调整和队形重构等问题进行归纳总结,最后对多无人机协同编队所面临的机遇和挑战进行了展望.结果表明:目前多无人机编队飞行理论方面取得了丰硕成果,但是实物飞行试验仅能实现简单通信环境下的协同编队飞行,任务分配和航迹规划实时性不高,控制方法应对突发情况鲁棒性低,多机多传感器协同感知能力不足,欠缺对实体的仿真实现,未来的研究方向应是突破上述关键技术的不足,开展复杂感知约束和复杂通信环境下的多无人机协同编队飞行研究,提出更加有效的控制方法,并进行多无人机实物编队飞行试验,使无人机能够更好地完成既定任务.
关键词:  多无人机  协同编队飞行  任务分配  航迹规划  编队控制  感知与融合  虚拟平台/实物平台
DOI:10.11918/j.issn.0367-6234.2017.03.001
分类号:V11
文献标识码:A
基金项目:国家自然科学基金(4,2)
Research status and development of multi UAV coordinated formation flight control
ZONG Qun1,WANG Dandan1,SHAO Shikai1,ZHANG Boyuan1,HAN Yu2
(1.School of Electrical Engineering and Automation, Tianjin University,Tianjin 300072, China; 2.School of Electrical Information Engineering, Tianjin University,Tianjin 300072, China)
Abstract:
It is well known that unmanned aerial vehicle (UAV) is more and more widely applied in military and civil areas. In order to play the better role of UAV, it is needed to utilize multi UAVs cooperative formation to accomplish cooperative reconnaissance, combat, defense and spraying pesticides and other tasks. The multi UAVs cooperative formation control technology mainly contains the following key techniques: data fusion technology, sensing technology, task allocation technology, path planning technology, formation control technology, communication network technology and virtual/physical verification platform technology. Firstly, summarize the research and development of key technologies worldwide. Then, the classification for multi UAVs formation control methods is mainly investigated, and the problems about formation design and adjustment, formation reconfiguration are summarized. Finally, the challenges and future development for multi UAV cooperative formation are prospected. Research shows: at present, the theory of multi UAV formation flight has acquired fruitful results, while the real cooperative formation flight test can only be implemented in the simple communication environment. The real time performance for task allocation and path planning is not high. The robustness of control methods to cope with the unexpected situation is low. The cooperative sensing ability for multi UAV with multi sensor is insufficient. The simulation of the entity is lacked. Breaking through the above key technologies, carrying out the cooperative formation flight of multi UAV in complex sensing constraints and complex communication environment, putting forward more effective control method and carrying out the UAV physical formation flying test so that the UAV can finish the task better may be the future research directions.
Key words:  multiple UAV  cooperative formation flight  task allocation  route planning  formation control  perception and fusion  virtual platform /physical platform

友情链接LINKS