多无人机在复杂低空环境下实现精准协同路径跟踪与实时避障
Robust Distributed Cooperative Path-Following and Local Replanning for Multi-UAVs Under Differentiated Low-Altitude Paths
- 通过时间索引和分布式通信保证路径同步
- 抗风扰下路径误差有限时间收敛至零
- 局部重规划耗时极短，适合实时避障
多架固定翼无人机在复杂数字高程模型（DEM）低空空域执行协同路径跟踪时，面临风场干扰、突发障碍物及差异化路径追踪下的分布式时序同步难题。现有方法缺乏高效分布式协调机制以实现3D差异化路径的时间一致性跟踪，无法量化抗扰性能，且在线避障重规划能力不足。为此，提出一种协同控制策略：首先，基于时间索引量化分布式协同路径跟踪问题，并通过分布式通信协议确保一致性；其次，设计纵向-横向前瞻角调整方法与鲁棒制导律，在风扰下实现路径跟踪误差的有限时间稳定至零；最后，构建一种最小时间成本的高效局部路径重规划方法，支持实时在线避障。实验验证了所提策略的有效性与优越性。
原文摘要 · Abstract (English)
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.
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