面向无人机自主防碰撞的认知博弈制导控制

Guidance control of cognitive game for unmanned aerial vehicleautonomous collision avoidance

中文关键词  无人机  自主防碰撞  认知安全域  微分博弈  制导控制

英文关键词  unmanned aerial vehicle  autonomous collision avoidance  cognitive safety region  differential game  guidance control

中文摘要

      针对非隔离空域中的无人机碰撞规避问题, 提出一种基于认知博弈制导的无人机自主防碰撞方法. 首先, 描述了非隔离空域中无人机自主防碰撞控制问题. 其次, 建立了无人机与入侵机的运动学模型, 并构建了无人机的认知安全域, 将无人机碰撞规避问题转化为涉及两方的博弈问题. 然后, 提出了制导策略集的求解方法. 最后, 仿真结果验证了所提方法的有效性.

英文摘要

      For the problem of unmanned aerial vehicle (UAV) collision avoidance in non-segregated airspace, a novel UAV autonomous collision avoidance control method based on guidance of cognitive game was proposed. First, UAV collision avoidance control problem in non-segregated airspace was described. Secondly, kinematics model of a UAV and the invasion vehicle was built. Also, cognitive safety region for a UAV was established. Thus, UAV collision avoidance problem was changed into a game problem involving two parties. Then, solving method for the set of guidance policy was proposed. Finally, the simulation results have verified effectiveness of the proposed method.