基于态势预测的无人机防相撞控制方法

摘要

During the autonomous flight,the Unmanned Aerial Vehicle(UAV)is threatened by the non- cooperative moving objects in the air. Because of the high mobility of moving objects, a controlling method for UAV collision avoidance based on the moving objects prediction is proposed in this paper. To predict the motion state of the moving threaten object,the Interactive Multiple Models (IMM)algorithm is adopted. The Receding Horizon Control (RHC)algorithm is used to establish the UAV's controlling model,and to a constrained objective function. The Differential Evolution(DE) algorithm is applied to obtain the optimal control variables, which then will be added into the controlling model,and the controlling of collision avoidance maneuver is established in the end. The simulation results show that this method can solve the Collision Avoidance problem of multi aircrafts' invasion effectively.%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.