Optimal Anti-collision Strategy for Cooperative UAV

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

Abstract

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

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

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.

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.

References

[1] GARDENER R.UAV technology spreading into multiple domains[J].Asia-Pacific Defence Reporter，2017，43（1）：66-72.
[2] HE R K，WEI R X，ZHANG Q R.UAV autonomous collision avoidance approach[J].Automatika，2017，58（2）：195-204.
[3] TONY L A，GHOSE D，CHAKRAVARTHY A.Avoidance maps：a new concept in UAV collision avoidance[C]//2017 International Conference on Unmanned Aircraft Systems，Miami，2017：1483-1492.
[4] 黄洋，汤俊，老松杨.基于复杂网络的无人机飞行冲突解脱算法[J].航空学报，2018，39（12）：322222.
HUANG Y，TANG J，LAO S Y.UAV flight conflict resolution algorithm based on complex network[J].Acta Aeronautica et Astronautica Sinica，2018，39（12）：322222.
[5] 郭剑东，王康，李志宇.基于凸面体圆弧航路的无人机自主避障算法[J].控制与决策，2021，36（3）：653-660.
GUO J D，WANG K，LI Z Y.Autonomous obstacle avoidance algorithm of UAV based on convex body arc route[J].Control and Decision，2021，36（3）：653-660.
[6] VAN DEN B J，GUY S J，LIN M，et al.Reciprocal n-body collision avoidance[M]//Robotics research.Berlin：Springer，2011：3-19.
[7] YANG X X，ZHANG Y，ZHOU W W.Obstacle avoidance method of three-dimensional obstacle spherical cap[J].Journal of Systems Engineering and Electronics，2018，29（5）：1058-1068.
[8] 王泽坤，吴明功，温祥西，等.基于速度障碍法的飞行冲突解脱与恢复策略[J].北京航空航天大学学报，2019，45（7）：1294-1302.
WANG Z K，WU M G，WEN X X，et al.Flight collision resolution and recovery strategy based on velocity obstacle method[J].Journal of Beijing University of Aeronautics and Astronautics，2019，45（7）：1294-1302.
[9] 张宏宏，甘旭升，李昂，等.基于速度障碍法的无人机避障与航迹恢复策略[J].系统工程与电子技术，2020，42（8）：1759-1767.
ZHANG H H，GAN X S，LI A，et al.UAV obstacle avoidance and track recovery strategy based on velocity obstacle method[J].Systems Engineering and Electronics，2020，42（8）：1759-1767.
[10] ZHENG X，GALLAND S，TU X W，et al.Obstacle avoidance model for UAVs with joint target based on multi-strategies and follow-up vector field[J].Procedia Computer Science，2020，170：257-264.
[11] ROSTAMI S M H，SANGAIAH A K，WANG J，et al.Obstacle avoidance of mobile robots using modified artificial potential field algorithm[J].EURASIP Journal on Wireless Communications and Networking，2019（1）：1-19.
[12] DAVID S，PREMYSL V，PECHOUCEK M.Agent based cooperative decentralized airplane-collision avoidance[J].IEEE Transactions on Intelligent Transportations Systems，2011，12（1）：36-46.
[13] 周建，RAHMANI A，刘昕，等.分布式MAS在飞行冲突解脱中的应用研究[J].交通运输系统工程与信息，2015，15（5）：231-238.
ZHOU J，RAHMANI A，LIU X，et al.Research on the application of distributed MAS in flight conflict resolution[J].Transportation System Engineering and Information，2015，15（5）：231-238.
[14] 吴明功，王泽坤，甘旭升，等.基于复杂网络理论的关键飞行冲突点识别[J].西北工业大学学报，2020，38（2）：279-287.
WU M G，WANG Z K，GAN X S，et al.Key flight conflict point identification based on complex network theory[J].Journal of Northwest University of Technology，2020，38（2）：279-287.
[15] DURAND N.Constant speed optimal reciprocal collision avoidance[J].Transportation Research：Part C Emerging Technologies，2018，96：366-379.
[16] TANG Z L，ZHANG L H.Nash equilibrium and multi criterion aerodynamic optimization[J].Journal of Computational Physics，2016，314：107-126.
[17] 吴明功，蒋旭瑞，温祥西，等.军航飞机流穿越民航航线冲突探测与解脱问题[J].北京航空航天大学学报，2019，45（5）：863-872.
WU M G，JIANG X R，WEN X X，et al.Conflict detection and resolution in scenario of military aircraft flow passing through civil aviation route[J].Journal of Beijing University of Aeronautics and Astronautics，2019，45（5）：863-872.
[18] 蒋旭瑞，吴明功，温祥西，等.基于合作博弈的多机飞行冲突解脱策略[J].系统工程与电子技术，2018，40（11）：2482-2489.
JIANG X R，WU M G，WEN X X，et al.Conflict resolution of multi-aircraft based on cooperative game[J].Systems Engineering and Electronics，2018，40（11）：2482-2489.
[19] 张旭，代悦，张东英，等.基于合作博弈的风电爬坡控制策略[J].电力系统自动化，2019，43（15）：42-48.
ZHANG X，DAI Y，ZHANG D Y，et al.Cooperative game based ramping control strategy for wind power[J].Automation of Electric Power Systems，2019，43（15）：42-48.
[20] 杨秀霞，周硙硙，张毅.基于速度障碍圆弧法的UAV自主避障规划研究[J].系统工程与电子技术，2017，39（1）：168-176.
YANG Y X，ZHOU A A，ZHANG Y.Automatic obstacle avoidance planning for UAV based on velocity obstacle arc method[J].Systems Engineering and Electronics，2017，39（1）：168-176.
[21] 张玮，马焱，赵捍东，等.基于改进烟花-蚁群混合算法的智能移动体避障路径规划[J].控制与决策，2019，34（2）：335-343.
ZHANG W，MA Y，ZHAO H D，et al.Obstacle avoidance path planning of intelligent mobile based on improved fireworks-ant colony hybrid algorithm[J].Control and Decision，2019，34（2）：335-343.
[22] 任彦，赵海波，肖永健.改进势场蚁群法的机器人避障及路径规划[J].电光与控制，2019，26（11）：75-79.
REN Y，ZHAO H B，XIAO Y J.Robot obstacle avoidance and path planning based on improved potential field ant colony method[J].Electronics Optics & Control，2019，26（11）：75-79.