关键词: 无人机编队, 滚动时域控制, B样条, 航迹规划, 航迹平滑

Abstract:

UAV clusters can perform complex and challenging tasks more efficiently, and path planning and formation control are the focus of research on UAV clusters. Aiming at the problem of UAV formation control in complex environments, a leader-follower strategy combining Piecewise Adaptive B-Spline（PABS） is proposed. The Receding Horizon Control and the Fast Particle Swarm Optimization（RHC-FPSO） algorithm is used to generate a safe reference path for the leader. And the reference paths are generated for the followers according to the geometric relationship maintained by the followers and the leader. Followers’ paths are smoothed by the PABS method for the problem that the paths of followers may not be smooth. Since the path will collide with obstacles in the environment, the path is planned by the adaptive B-spline method to achieve obstacle avoidance. Experiments show that the RHC-FPSO method and the PABS method can generate safe and smooth paths for the UAVs in the formation under the leader-follower strategy. Compared with the circular interpolation technique, the PABS method can make the path smoother.

Key words: UAV formation, receding horizon control, B-spline, path planning, path smoothing