【摘要】 针对四旋翼无人机在编队飞行执行任务时可能遭遇障碍物问题，考虑多无人机避障及机间避撞的需求，提出1种基于零空间方法的四旋翼无人机避障与协同编队控制算法。首先，建立四旋翼无人机动力学模型，并建立虚拟控制量简化控制模型；其次，基于零空间方法进行避障与协同编队控制算法研究，将无人机任务执行分解为目标趋向任务、避障避撞任务和协同编队任务，并根据优先级进行任务融合得到期望速度；再次，基于PID方法设计控制律；最后，通过仿真验证所提控制算法的有效性。所提方法可保证四旋翼无人机在编队飞行中遭遇障碍物时的飞行安全。更多还原

【Abstract】 A null-space-based(NSB) method-based obstacle avoidance and cooperative formation control algorithm for quadrotor unmanned aerial vehicles(UAVs) is proposed to address the problem of encountering obstacles during formation flight and mission execution, considering the requirements of obstacle avoidance and collision avoidance among multiple UAVs. Firstly, the dynamic model of quadrotor UAV and the simplified control model using virtual control variables are established. Secondly, based on the NSB method, a research is conducted on obstacle avoidance and cooperative formation control strategy. The task execution of each UAV is decomposed into three types of tasks: target orientation task,obstacle avoidance and collision avoidance task, and cooperative formation task. The desired speed is obtained by task fusion according to priority, and then the control law is designed based on the PID method. Finally, the effectiveness of the proposed control algorithm is verified by the simulation. The proposed method can ensure the flight safety of quadrotor UAVs when encountering obstacles during formation flight.更多还原