多架无人机安全降落在移动车辆上，靠动态避障控制实现
Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
- 用两种时变控制屏障函数保障飞行安全
- 三架无人机在移动目标上成功降落无碰撞
- 适合需要协同无人系统安全着陆的场景
本文提出一种集中式控制方法，用于多架无人飞行器（UAV）在移动无人地面车辆（UGV）上的安全着陆。采用两类控制屏障函数（CBF）：一类是三维指数衰减的落地控制屏障函数（LCBF），位于着陆平台上方，确保精准降落；另一类是球形控制屏障函数（SCBF），定义在每对UAV之间，防止相互碰撞。LCBF随UGV运动动态调整。在控制框架中，从原始跟踪控制器获取的控制输入被筛选，选择一个偏离最小但满足安全约束（由CBF定义）的输入。由于各UAV的控制输入共同满足多个CBF约束，证明了控制输入共享时安全集可向前不变。通过三架无人机降落在三个移动目标的仿真场景验证了该方法的有效性。
原文摘要 · Abstract (English)
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework employs two kinds of CBFs to impose safety constraints on the UAVs' motion. The first class of CBFs (LCBF) is a three-dimensional exponentially decaying function centered above the landing platform, designed to safely and precisely land UAVs on the UGVs. The second set is a spherical CBF (SCBF), defined between every pair of UAVs, which avoids collisions between them. The LCBF is time-varying and adapts to the motions of the UGVs. In the proposed CBF approach, the control input from the UAV's nominal tracking controller designed to reach the landing platform is filtered to choose a minimally-deviating control input that ensures safety (as defined by the CBFs). As the control inputs of every UAV are shared in establishing multiple CBF constraints, we prove that the control inputs are shared without conflict in rendering the safe sets forward invariant. The performance of the control framework is validated through a simulated scenario involving three UAVs landing on three moving targets.
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