【摘要】：近年來,我國加快低空領(lǐng)域的開放,無人機(jī)應(yīng)用越來越普遍,但是低空領(lǐng)域環(huán)境復(fù)雜,為保障飛行途中的安全,我們既要保證無人機(jī)在執(zhí)行任務(wù)的過程中實時躲避障礙物,也要保證集群中無人機(jī)之間互相避撞,所以無人機(jī)集群的避障研究顯得尤為重要。本文提出基于多傳感器網(wǎng)絡(luò)模型的無人機(jī)多機(jī)協(xié)同避障算法,結(jié)合了多傳感器網(wǎng)絡(luò)中傳感器結(jié)點之間通過局部合作引導(dǎo)整體運(yùn)動的特點,解決無人機(jī)多機(jī)低空避障問題。本文重點給出基于多傳感器網(wǎng)絡(luò)的協(xié)同避障算法,算法主要解決以下四個基本問題:1)怎樣在傳感器結(jié)點可能發(fā)生碰撞的時候建立多傳感器網(wǎng)絡(luò);2)怎樣在建立的多傳感器網(wǎng)絡(luò)中完成傳感器結(jié)點避障問題;3)怎樣處理避障過程中新加入了傳感器結(jié)點的問題;4)怎樣在避障完成后傳感器結(jié)點離開網(wǎng)絡(luò)繼續(xù)完成任務(wù)。在提出避障算法之后通過仿真驗證算法正確性,仿真證明算法可以解決上述的四個問題,即在傳感器結(jié)點可能發(fā)生碰撞的時候建立多傳感器網(wǎng)絡(luò),在建立的多傳感器網(wǎng)絡(luò)中利用避障算法,各個傳感器結(jié)點能夠完成避障,并正確處理在網(wǎng)絡(luò)中加入新結(jié)點的避障問題,以及完成避障任務(wù)后傳感器結(jié)點安全離開網(wǎng)絡(luò)繼續(xù)完成任務(wù)直至任務(wù)完成。最后在實際低空應(yīng)用環(huán)境中使用多架旋翼無人機(jī)進(jìn)行飛行驗證,通過在地面站中顯示各個無人機(jī)的運(yùn)動路徑,實驗顯示本文提出的基于多傳感器網(wǎng)絡(luò)的協(xié)同避障算法可以很好地保障無人機(jī)飛行途中的安全。具體而言,與之前的多傳感器網(wǎng)絡(luò)研究相比,本文的主要貢獻(xiàn)是:1)建立一個基于多傳感器網(wǎng)絡(luò)的避障框架;2)對無人機(jī)受力分析,通過計算無人機(jī)的最大速度以及加速度,保證無人機(jī)間以及無人機(jī)與障礙物之間始終保持一段距離。
[Abstract]:In recent years, China has accelerated the opening of the low-altitude domain, and the application of unmanned aerial vehicles (UAVs) has become more and more common. It is also necessary to avoid collision between UAVs in cluster, so the research on obstacle avoidance of UAV cluster is very important. This paper presents a multi-aircraft cooperative obstacle avoidance algorithm for UAV based on multi-sensor network model. Combined with the characteristics of local cooperation between sensor nodes in multi-sensor networks, the problem of multi-aircraft low-altitude obstacle avoidance is solved. This paper focuses on the cooperative obstacle avoidance algorithm based on multi-sensor networks. The algorithm mainly solves the following four basic problems: 1) how to establish multi-sensor networks when the sensor nodes are likely to collide; 2) how to avoid the sensor node in the multi-sensor network; 3) how to deal with the new sensor node in the process of obstacle avoidance; 4) how to finish the task after the sensor node leaves the network after the obstacle avoidance is completed. After the obstacle avoidance algorithm is put forward, the correctness of the algorithm is verified by simulation. The simulation proves that the algorithm can solve the above four problems, that is, to build a multi-sensor network when the sensor node may collide. By using obstacle avoidance algorithm in multi-sensor networks, each sensor node can avoid obstacles and correctly deal with the obstacle avoidance problem of adding new nodes to the network. After completing the obstacle avoidance task, the sensor node safely leaves the network and continues to complete the task until the task is completed. Finally, in the actual low-altitude application environment, we use multiple rotor UAVs to carry out flight verification, and show the motion paths of each UAV in the ground station. Experiments show that the proposed cooperative obstacle avoidance algorithm based on multi-sensor networks can ensure the safety of UAV in flight. Specifically, compared with the previous research on multi-sensor networks, the main contributions of this paper are as follows: 1) establish a framework of obstacle avoidance based on multi-sensor networks; 2) by calculating the maximum velocity and acceleration of the UAV, the distance between the UAV and the obstacle is always maintained.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：V279;V249;TP212.9

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