| With the development of intelligent unmanned technology,intelligent unmanned swarm formation has become an important direction of unmanned systems.Driven by the application requirements,the problem of formation control and collision avoidance has attracted the attention of many scholars.Motivated by the above considerations,we investigated flexible and practical approaches for formation control of unmanned swarm and collision avoidance in this dissertation.To the best of our knowledge,there are few researches on the ellipsoidal calculus.Kurzhanski presents a theoretical framework of formation control approach for unmanned swarm based on the virtual ellipsoidal motions.In fact,we can regard Kurzhanski’s approach as an improvement of virtual structure method.The approach not only inherits advantages that is easy to describe system behavior as a whole and can obtain higher-cell control accuracy from traditional virtual structure,but also fully compensate for the defects of rigid motion in traditional virtual structures.Based on the work of Kurzhanski,this paper achieves formation control of unmanned swarm and collision avoidance problem based on virtual ellipsoid.A formation control approach was proposed for the problem of formation control of unmanned swarm based on the virtual ellipsoidal motions.The paper studies the problem of target control that the virtual ellipsoid can move towards a given target set under state constraint,the optimal trajectory of the virtual ellipsoid was achieved by using the HJB equation and solving the value function.The simulation has verified the effectiveness of the algorithms.A collision avoidance approach was proposed for the problem of collision avoidance of unmanned swarm based on the virtual ellipsoidal motions.The paper studies the problem of target control that the virtual ellipsoid can move towards a given target set under obstacle constraint,give concrete meaning to obstacle constraints,thereby the unknown parameters in the value function can be expressed by nonlinear equation,and then the optimal trajectory of the virtual ellipsoid was achieved by solving the value function.The simulation has verified the effectiveness of the algorithms. |
