随着无人机碰撞事故的增加, 防碰撞已成为多无人机共空域飞行亟待解决的问题。首先, 进行多无人机协同防碰撞体系结构设计, 然后, 提出一种新的模型预测控制方法: 应用扩展卡尔曼滤波预测不确定性环境空间的障碍物和目标轨迹, 无人机通过机间通信实现环境信息共享, 基于模型预测控制方法进行多无人机协同防碰撞制导决策。仿真结果表明所提方法的有效性, 同时协同机制的效果明显。

With the increasing of collision accidents among Unmanned Aerial Vehicles (UAVs) the collision avoidance has become a critical problem in free flight airspace of multi-UAV.Firstly a multi-UAV cooperative collision avoidance system was designed and then a novel model predictive control method(MPC) was presented.In the method Extended Kalman Filter (EKF) was used to predict trajectories of obstacles and target in uncertain environment the environment information was shared among UAVs by inter-UAV communication and multi-UAV cooperative collision avoidance guidance strategies were made based on MPC.The simulation results demonstrate the validity of the method and the obvious effect of cooperation mechanism.