论文标题
集成领空中多个固定翼无人机的层次碰撞避免架构
A Hierarchical Collision Avoidance Architecture for Multiple Fixed-Wing UAVs in an Integrated Airspace
论文作者
论文摘要
本文研究了复杂集成领空中自动多重固定翼无人机的避免碰撞问题。通过研究和组合在线路径计划方法，分布式模型预测控制算法和几何反应性控制方法，为多个由Unicycle Kinematics建模的固定翼无人机开发了一个三层碰撞避免系统，该系统集成了冲突检测和解决程序。在确定性和概率传感条件下，通过比较模拟的测试结果评估和验证了所提出方法的有效性。
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and the geometric reactive control approach, a three-layered collision avoidance system integrating conflict detection and resolution procedures is developed for multiple fixed-wing UAVs modeled by unicycle kinematics subject to input constraints. The effectiveness of the proposed methodology is evaluated and validated via test results of comparative simulations under both deterministic and probabilistic sensing conditions.
