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针对多架无人机协同跟踪一个地面移动目标进行研究.通过基于Lyapunov导航向量场的航向控制使各架无人机收敛到位于目标上空的极限环,绕目标展开跟踪.进一步通过相位控制,使各架无人机均匀分布在极限环上,对目标进行协同跟踪.以3架无人机协同跟踪沿S型公路匀速前行的地面目标进行仿真.结果表明该方法能使无人机成功地完成协同跟踪任务.
Aiming at the cooperative tracking of a ground moving target by multiple UAVs, the UAVs are converged to the limit cycle over the target by the heading control based on the Lyapunov navigation vector field, and then the target is unfolded around the target.Following the phase control, The unmanned aerial vehicles were uniformly distributed on the limit cycle, and the targets were coordinated and tracked.The simulation results of the three unmanned aerial vehicles cooperatively tracking the ground targets along the S-shaped highway at constant speed showed that the method could make the UAV successfully Complete collaborative tracking tasks.