基于动态障碍物可达包络分析的无人机编队路径规划

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Abstract：To solve the problem of unmanned aerial vehicle（UAV） formation to avoid dynamic obstacles with unknown behaviors，a UAVs formation path planning method based on the reachable envelope analysis of dynamic obstacles is proposed.Firstly，the model of the UAVs formation motion is established and the desired formation configuration is formed using theleader-folower method. Secondly，considering the uncertainty of the motion dynamic states of dynamic obstacles，a nonlinear motion model containing uncertainties is established， and the covariance propagation equation of the uncertainties is obtained by the state transfer tensor method， which generates the reachable envelope of the obstacle in the predicted time domain.Finally，the potential field model is established for thereachable envelope of the obstacle，and the artificial potential field method is applied to realize the UAVs formation obstacle avoidance flight. The results of comparative simulation experiments show thatthe proposed method can generate the reachable envelope of dynamic obstacles with unknown behaviors at one time online，and effectively solve problems such as path bypassng when the UAV formation avoids dynamic obstacles.

Keywords：unmanned aerial vehicle（UAV） formation；dynamic obstacle；uncertainty； state transfertensor method；reachable envelope analysis

0引言

近年来，多无人机编队被广泛运用在各个领域当中，相较于单无人机，多无人机编队在搜索范围、故障容错、任务完成率等方面展示出更大优势[1-2]。（剩余16563字）