CAJ | 학술논문

在领航-跟随编队模式下，设计了一种基于追缉策略的无人机编队会合方法。基于微分几何曲线论和弗雷涅-塞雷标架建立了无人机非解耦三维运动模型，其中将曲率和挠率作为控制量；结合该模型给出了无人机三维编队会合问题的数学描述，它将导弹制导问题中的终端落角约束映射为编队会合问题中僚机的航迹倾角约束，同时引入额外的航迹方位角约束；使用特殊正交群的元素来度量长僚机方向偏差，并通过局部坐标映射将其映射为对应李代数空间中的旋量；基于该旋量设计了编队会合几何导引律，并给出相应的曲率和挠率控制指令；分别在长机稳定平飞和转弯机动条件下进行了多机编队会合数字仿真实验，仿真结果显示僚机能够有效地跟踪长机航向并收敛至指定位形，说明了方法的有效性。
재령항-근수편대모식하，설계료일충기우추집책략적무인궤편대회합방법。기우미분궤하곡선론화불뢰열-새뢰표가건립료무인궤비해우삼유운동모형，기중장곡솔화뇨솔작위공제량；결합해모형급출료무인궤삼유편대회합문제적수학묘술，타장도탄제도문제중적종단락각약속영사위편대회합문제중료궤적항적경각약속，동시인입액외적항적방위각약속；사용특수정교군적원소래도량장료궤방향편차，병통과국부좌표영사장기영사위대응리대수공간중적선량；기우해선량설계료편대회합궤하도인률，병급출상응적곡솔화뇨솔공제지령；분별재장궤은정평비화전만궤동조건하진행료다궤편대회합수자방진실험，방진결과현시료궤능구유효지근종장궤항향병수렴지지정위형，설명료방법적유효성。
With the leader-follower formation pattern,a method for UAV formation rendezvous was developed based on the pursuit strategy. Firstly,the UAV non-decoupling 3D kinematics models were established by using the curve theory of differential geometry and the Frenet-Serret frames,where the curvature and the torsion were considered as the control effort.Secondly,the mathematical descriptions of the three-dimensional formation rendezvous were provided with the models,where the impact angular constraint in missile guidance was mapped to a flight path angle of the follower in formation rendezvous,and an additional azimuth angular constraint was introduced.Thirdly,the orientation deviation between the leader and the follower was measured by using an element of the special orthogonal group,and the element was mapped to a twist in an Lie algebra space corresponding to the Lie group by local coordinate mapping.Then,a geometric guidance law for formation rendezvous was developed by using the twist,and the corresponding curvature command and torsion command were presented.Finally,the numerical simulation for multi-UAVs formation rendezvous was carried out,under the leader flying straightly and making a turn,respectively.The simulation results show that the follower can track the orientation of the leader successfully and can converge to a specified configuration,which indicates that the proposed method is available.