无人机认知防碰撞系统安全边界研究

Study on safety boundary of cognitive anti-collision system for unmanned aerial vehicle

中文关键词  无人机, 认知防碰撞系统, 防碰撞稳定性, 安全边界

英文关键词  UAVs, cognitive anti-collision system, anti-collision stability, safety boundary

中文摘要

      无人机认知防碰撞控制是借鉴人类认知智能，建立复杂动态环境无人机防碰撞控制的新思路，其认知决策的安全边界是系统设计的重要问题。本文整体考虑环境威胁与无人机的相互作用关系，建立了“认知无人机-环境系统”模型。进而定义了系统的防碰撞稳定性，并导出了认知无人机-环境系统的防碰撞稳定条件。在此基础上，通过分析防碰撞稳定的安全特征量，解算出面向动态正向碰撞的无人机认知防碰撞系统的安全边界。仿真实验分析了“云雀”无人机的安全边界特性和防碰撞控制要求，并与其他方法进行了对比。

英文摘要

      The cognitive anti-collision control method is a novel idea to build anti-collision control of UAV(Unmanned Aerial Vehicle) in complex dynamic environment by using human cognition intelligence. The safety boundary of cognitive decision-making is an important issue in system design. This paper considers the interaction between obstacles and UAVs as a whole, and establishes a “cognitive UAV-environment system” model. Furthermore, the anti-collision stability of the system is defined, and the anti-collision stability condition of the cognitive UAV-environment system is derived. On this basis, by analyzing the safety feature of anti-collision stability, the safety boundary of the UAV cognitive anti-collision system for dynamic forward collision is solved. The simulation experiment analyzes the safety boundary characteristics and anti-collision control requirements of the "Lark" UAV, and the comparation with other methods is carried out at last.