CAJ | 학술논문

通过定高飞行假设,建立了集群运行的简化空间模型、基于静止坐标系和运动坐标系的集群控制模型和分布式控制结构.将既定加速度量和势差加速度量按比例结合,控制UAV跟踪轨迹形成并保持集群状态.基于UAV模型和智能体的仿真结果表明,该模型及算法能够实现稳定的UAV固定拓扑集群行为,且具有优越的队形保持和速度控制性能.
통과정고비행가설,건립료집군운행적간화공간모형、기우정지좌표계화운동좌표계적집군공제모형화분포식공제결구.장기정가속도량화세차가속도량안비례결합,공제UAV근종궤적형성병보지집군상태.기우UAV모형화지능체적방진결과표명,해모형급산법능구실현은정적UAV고정탁복집군행위,차구유우월적대형보지화속도공제성능.
Fixed topology formation is to economize the energy enormously and enhance the velocity control capaeity notably in the long distance transferring of multi-UAV flocking.A simplified space model is built up with the hypothesis of fixed height flight,and the flocking control model and distributed control structure based on the static and motion reference frame are founded.Further,a fixed acceleration and two kinds of potential-difference aeeeleration are combined proportionally to control UAV to track the after-calculation fixed locus and maintain the flocking state.As proved by simulation based on both UAV model multi-agents,this model and algorithm ale able to form the stable fixed topology flocking behavior,and have good performance in formation maintenance and flocking velocity control.