UAV formation pathtracking method based on vector field

基于矢量场的无人机编队路径跟踪方法

¹ School of Automation, Northwestern Polytechnical University, Xi'an 710072, China
² AVIC Xi'an Flight Automatic Control Research Institute, Xi'an 710065, China
³ School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China

Received: 8 December 2024

Abstract

Path following algorithm plays a crucial role in UAV formation control, and this paper designs a UAV formation path tracking method based on Vector field (VF) to solve the stable path following problem of UAV formation. Firstly, the UAV dynamics model under time-varying wind speed was established, and the tracking algorithm of single UAV linear trajectory and circular trajectory based on vector field was designed, and its convergence was proved. Then, the error dynamic model between the follower UAV and the leader UAV under the leader-follower structure is constructed, and the UAV formation vector field path tracking algorithm is designed by combining the single UAV vector field path tracking algorithm, and the stability analysis of the formation tracking guidance law is carried out. Finally, the relevant path following simulation and semi-physical simulation is carried out, and results show the proposed method can complete the stable tracking of straight paths, circular paths and combined paths in the environment with or without wind field.

摘要

路径跟踪算法在无人机编队控制中起着关键作用。为了有效解决无人机编队的稳定路径跟踪问题, 提出了一种基于矢量场的编队跟踪方法。建立了时变风速下的无人机动力学模型, 设计了基于矢量场的单无人机直线轨迹和圆形轨迹的跟踪算法, 并引入地速观测器, 在单无人机直线与圆弧轨迹的矢量场控制律中对风扰动引起的地速误差进行实时校正; 在leader-follower结构下, 构建编队误差动力学模型, 设计"航向矢量场"与"速度矢量场"双场联动控制律, 实现编队航向与速度的同步收敛, 并给出闭环稳定性分析。通过多组仿真实验与半实物仿真结果, 所提方法可以在有/无风场环境下完成对直线路径、圆形路径的稳定跟踪。