【摘要】：近年來,我國加快低空領域的開放,無人機應用越來越普遍,但是低空領域環(huán)境復雜,為保障飛行途中的安全,我們既要保證無人機在執(zhí)行任務的過程中實時躲避障礙物,也要保證集群中無人機之間互相避撞,所以無人機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)絡模型的無人機多機協(xié)同避障算法,結(jié)合了多傳感器網(wǎng)絡中傳感器結(jié)點之間通過局部合作引導整體運動的特點,解決無人機多機低空避障問題。本文重點給出基于多傳感器網(wǎng)絡的協(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;2)怎樣在建立的多傳感器網(wǎng)絡中完成傳感器結(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)絡繼續(xù)完成任務。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,在建立的多傳感器網(wǎng)絡中利用避障算法,各個傳感器結(jié)點能夠完成避障,并正確處理在網(wǎng)絡中加入新結(jié)點的避障問題,以及完成避障任務后傳感器結(jié)點安全離開網(wǎng)絡繼續(xù)完成任務直至任務完成。最后在實際低空應用環(huán)境中使用多架旋翼無人機進行飛行驗證,通過在地面站中顯示各個無人機的運動路徑,實驗顯示本文提出的基于多傳感器網(wǎng)絡的協(xié)同避障算法可以很好地保障無人機飛行途中的安全。具體而言,與之前的多傳感器網(wǎng)絡研究相比,本文的主要貢獻是:1)建立一個基于多傳感器網(wǎng)絡的避障框架;2)對無人機受力分析,通過計算無人機的最大速度以及加速度,保證無人機間以及無人機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.
【學位授予單位】：電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V279;V249;TP212.9

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