[1]穆凌霞,李筱,王斑,等.基于改进序列凸优化的多无人机航迹规划方法[J].智能系统学报,2025,20(1):128-138.[doi:10.11992/tis.202312035]
MU Lingxia,LI Xiao,WANG Ban,et al.Trajectory planning method based on improved sequential convex optimization algorithm for multiple UAVs[J].CAAI Transactions on Intelligent Systems,2025,20(1):128-138.[doi:10.11992/tis.202312035]
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MU Lingxia,LI Xiao,WANG Ban,et al.Trajectory planning method based on improved sequential convex optimization algorithm for multiple UAVs[J].CAAI Transactions on Intelligent Systems,2025,20(1):128-138.[doi:10.11992/tis.202312035]
基于改进序列凸优化的多无人机航迹规划方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
20
期数:
2025年第1期
页码:
128-138
栏目:
学术论文—智能系统
出版日期:
2025-01-05
- Title:
- Trajectory planning method based on improved sequential convex optimization algorithm for multiple UAVs
- Keywords:
- multiple UAVs; flight trajectory planning; obstacle avoidance constraint; sign distance function; convex optimization; adaptative feasible region; approximate convex subproblem; cooperative arrival
- 分类号:
- TP273; V279
- 摘要:
- 随着人工智能技术的迅速发展，利用多架无人机执行飞行任务成为研究的热点之一。本文研究多架无人机到达同一目标点的航迹规划问题，首先建立最优控制问题，采用符号距离函数将非凸避障约束进行凸化；接着考虑了无人机离散序列间的避障约束，保证在连续时间内多无人机的飞行安全；最后提出了自适应信赖域序列凸优化算法，能够保证在每次序列迭代中都能找到近似凸子问题的解，快速求解得到多无人机最优航迹。该算法适用于威胁环境下多无人机协同到达指定的目标点，具有较快的收敛速度。
- Abstract:
- The rapid development of artificial intelligence technology in recent years has made the execution of collaborative tasks using multiple unmanned aerial vehicles (UAVs) a prominent research topic. In this study, the path planning problem for a multi-UAV cooperative arriving at a target point in a complex environment is studied. First, an optimal control problem is formulated. The non-convex obstacle avoidance constraints are addressed using the sign distance function. Then, the obstacle avoidance constraints between the discrete sequences of UAVs are considered to ensure continuous flight safety for multiple UAVs. Finally, a convex optimization algorithm for adaptive feasible region sequences is proposed, which ensures that the solution of the approximate convex problem can be found in each sequence iteration and the optimal trajectory of multiple UAVs can be quickly determined. The algorithm is suitable for a multi-UAV cooperative arriving at specific target points in an obstacle environment and has a fast convergence speed.
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备注/Memo
收稿日期:2023-12-22。
基金项目:国家自然科学基金项目(61903297, 52472418, 61833013, 62103326); 航空科学基金项目(2024Z0710T6002); 中国博士后科学基金项目(2022MD723834).
作者简介:穆凌霞，副教授，主要研究方向为无人系统导航制导与控制、故障诊断与容错控制。主持/参与国家自然科学基金项目5 项，主持省部级项目、企业委托技术开发项目7项，获国家发明专利授权/受理9项，发表学术论文 30 余篇。E-mail：mulingxia@xaut.edu.cn。;李筱，硕士研究生，主要研究方向为多无人机协同制导。E-mail：19829314082@163.com。;王斑，副教授，主要研究方向为飞行器控制。主持国家自然科学基金项目等国家级项目，获国家发明专利授权/受理12项，发表学术论文48篇。E-mail：wangban@nwpu.edu.cn。
通讯作者:王斑. E-mail：wangban@nwpu.edu.cn
更新日期/Last Update:
2025-01-05