多UAVの差別化低空経路におけるロバスト分散協調経路追従と局所再計画
Robust Distributed Cooperative Path-Following and Local Replanning for Multi-UAVs Under Differentiated Low-Altitude Paths
複数の固定翼UAVが複雑なDEM低空空域で協調経路追従する際の課題に対し、分散通信プロトコルによる時間同期、風外乱下での有限時間安定化を実現するロバスト誘導則、およびオンライン障害物回避のための局所再計画手法を提案した。
著者: Zimao Sheng, Zirui Yu, Hong'an Yang
分類: cs.RO
原文アブストラクト
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles, and requirements of distributed temporal synchronization during differentiated path tracking. Existing methods lack efficient distributed coordination mechanisms for time-consistent tracking of 3D differentiated paths, fail to quantify robustness against disturbances, and lack effective online obstacle avoidance replanning capabilities. To address these gaps, a cooperative control strategy is proposed: first, the distributed cooperative path-following problem is quantified via time indices, and consistency is ensured through a distributed communication protocol; second, a longitudinal-lateral look-ahead angle adjustment method coupled with a robust guidance law is developed to achieve finite-time stabilization of path following error to zero under wind disturbances; third, an efficient local path replanning method with minimal time cost is designed for real-time online obstacle avoidance.Experimental validations demonstrate the effectiveness and superiority of the $\ $proposed strategy.