Research On Consensus Of Multi-UAV Route Planning Based On Artificial Potential Field

With the progress of modern science and technology,in recent years,many intelligent systems have been widely used in many fields,such as unmanned aerial vehicles(UAV),underwater vehicles,satellite coordination,making the multi-agent system co-operation caused great concern,thus making the multi-agent system become a research hotspot.Although the application background is different,but the basic principle is the use of multi-agent system consensus theory,that is,the use of individual local information through simple control rules to achieve the overall control objectives of the system.In recent years,both in the military or civilian areas,UAV applications are widely used.In the context of special complex tasks,UAV need to pass through the area covered by obstacles,then must solve the UAV avoidance problem;a single UAV may not be able to meet mission requirements,so multi-UAVs work together,but in a complex environment,the communication between UAVs is highly disturbed.Considering the ability of the UAV system to adapt to the complex working environment and to meet the requirements of the task,the problem of multi-UAV conformance with communication delay needs to be solved urgently.The main research work of this paper includes the following contents:1.The problem of multi-UAV flight planning with artificial potential field method is studied.This paper summarizes the research status of UAV trajectory planning,simplifies the motion model of UAVs into agents,and studies the obstacle avoidance problem of traditional artificial potential field method in track planning.According to the shortcomings of the traditional artificial potential field method,an improved artificial potential field method is proposed,and the rotational force is introduced which solves the local extremum and the target unreachability problem in the traditional artificial potential field method.By adding the force between the UAVs,to solve the self-collision between the UAV and detachment from the formation of the problem.2.The consensus of multi-UAV system based on artificial potential field is studied.In the study of multi-UAV systems,the communication network model between UAV systems is established according to graph theory.Based on the theory of multi-agent system,the consensus of multi-UAV system based on artificial potential field is analyzed.According to the improved artificial potential field,a consensus control protocol is designed.By designing the control protocol of different control requirements,the consensus of the multi-UAV system is guaranteed,and the stability of the multi-UAV system is proved by using the constructed Lyapunov function.3.This paper studies the consensus of communication delay between multi-UAV systems in complex environments.Modeling the motion state of the UAV and the communication topology network,in the communication topology network with fixed undirected connectivity graphs,the control protocol is proposed based on the communication delay consensus protocol.4.The numerical simulation of UAV as an example is carried out,and the improved artificial potential field is validated in dealing with local extremum and target unreachability.The obstacle avoidance and consensus of multi-UAV systems in complex obstacle environment are simulated and analyzed.In the presence of time-varying communication delay,the obstacle avoidance and consensus of multi-UAV systems are analyzed.According to the simulation results,it can be concluded that the algorithm is feasible and effective.