针对合作型无人机的最优防相撞策略

doi:10.3778/j.issn.1002-8331.2009-0095

摘要/Abstract

摘要： 为解决复杂融合空域内的无人机（unmanned aerial vehicle，UAV）冲突解脱过程中消耗大的问题，提出基于速度障碍法的合作型无人机的最优防相撞策略。首先根据有限时间的速度障碍法进行冲突探测，并推导出解脱条件下冲突双方航向改变量与速度大小改变量满足的关系，再将合作博弈概念用在冲突解脱过程中，利用最优化理论，将联盟福利最优解作为博弈双方最优解脱策略。该冲突解脱算法基于无人机冲突双方最小机动与满足自身性能约束的原则，实现支付代价最小前提下的实时冲突解脱。仿真结果表明该算法在不同冲突场景下具有可行性、实时性与高效性。

关键词: 冲突探测, 冲突解脱, 合作博弈, 几何优化算法

Abstract: In order to solve the high cost problem in the conflict resolution process of unmanned aerial vehicle（UAV） in complex integrated airspace, the optimal anti-collision strategy of cooperative UAV based on velocity obstacle method is proposed. Firstly, the collision detection is carried out according to the finite time velocity obstacle method, and the relationship between course change and velocity change is deduced under the resolution condition. Then, the cooperative game concept is applied in the conflict resolution process, and the optimal solution of alliance welfare is taken as the optimal solution of both sides of the game by using the optimization theory. Based on the principle of UAV minimum maneuverability and performance constraints, this algorithm can realize real-time conflict resolution under the premise of minimum cost. Simulation results show that the algorithm is feasible, real-time and efficient in different conflict scenarios.

Key words: conflict detection, conflict resolution, cooperative game, geometric optimization algorithm

张宏宏, 甘旭升, 孙静娟, 王宁, 陈致远. 针对合作型无人机的最优防相撞策略[J]. 计算机工程与应用, 2022, 58(4): 290-297.

ZHANG Honghong, GAN Xusheng, SUN Jingjuan, WANG Ning, CHEN Zhiyuan. Optimal Anti-collision Strategy for Cooperative UAV[J]. Computer Engineering and Applications, 2022, 58(4): 290-297.

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