用滚动时域非线性预测控制实现密集固定翼无人机编队飞行
Dense Fixed-Wing Swarming using Receding-Horizon NMPC
- 采用滚动时域非线性模型预测控制规划飞行轨迹，拓展飞行包线以避撞
- 计算轨迹管外越界概率的统计上界，量化碰撞风险
- 首次在真实飞行中实现高机动固定翼无人机近距离编队，适合无人系统研发者
本文提出一种控制多架敏捷固定翼飞行器在近距离协同飞行的方法。该方法基于滚动时域非线性模型预测控制（NMPC），在扩展的飞行包线内规划机动动作，实现机间避碰。为增强避碰鲁棒性并量化碰撞可能性，我们计算了系统偏离预定轨迹管的概率统计上界。此外，提出了评估高度动态蜂群性能的指标，并以此验证了方法的有效性。通过仿真与硬件实验均成功实现了该方法，据我们所知，这是首次在物理层面实现高机动固定翼无人机的近距编队飞行。
原文摘要 · Abstract (English)
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across an expanded flight envelope to enable inter-agent collision avoidance. To facilitate robust collision avoidance and characterize the likelihood of inter-agent collisions, we compute a statistical bound on the probability of the system leaving a tube around the planned nominal trajectory. Finally, we propose a metric for evaluating highly dynamic swarms and use this metric to evaluate our approach. We successfully demonstrated our approach through both simulation and hardware experiments, and to our knowledge, this the first time close-quarters swarming has been achieved with physical aerobatic fixed-wing vehicles.
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