طراحی مسیر پرواز گروهی هواپیماها با الگوریتم ترکیبی لیاپانوف و پتانسیل

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشگاه اصفهان

2 هیات علمی/دانشگاه اصفهان-دانشکده مکانیک

چکیده

در این مقاله به بحث، بررسی و توسعه الگوریتم طراحی مسیر برای مأموریت تعقیب هدف متحرک پرواز گروهی هواپیماهای بدون سرنشین پرداخته می شود. مطابق با الزامات هواپیمای بدونسرنشین بال ثابت، برای تعقیب هدف متحرک و همچنین مأموریت دوری از موانع در محیط های پیچیده، الگوریتم جدیدی از ترکیب الگوریتم میدان برداری لیاپانوف با الگوریتم میدان پتانسیل بهبود یافته ارائه می شود. الگوریتم دینامیکی جدید ارائه شده از مزایای الگوریتم پتانسیل بهبود یافته برای دوری از موانع و همچنین از قابلیت الگوریتم میدان برداری لیاپانوف برای تعقیب اهداف متحرک استفاده می نماید. از مزایای این الگوریتم، درلحظه یا برخط بودن و پویایی آن برای تعقیب هدف متحرک و در عین حال دوری از موانع و همچنین قابلیت محاسباتی سریع می باشد که سبب می شود الگوریتم در محیط های پیچیده به خوبی عمل نماید. در ادامه الگوریتم ارائه شده برای پرواز گروهی هواپیماهای بدون سرنشین طراحی می شود. نتایج ارائه شده به خوبی بیانگر آن است که الگوریتم ترکیبی ارائه شده، قابلیت پیاده سازی در محیطهای پیچیده را دارا می باشد.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Unmanned Aerial Vehicle Formation Flying Path Plan by Combined Algorithm of Potential and Lyapunov

نویسندگان [English]

  • masih fathi 1
  • Maryam Malekzadeh Varnosfadrani 2
1 university of isfahan
چکیده [English]

This paper discussed and introduced a new path-planning algorithm, based on improved potential field and Lyapunov guidance vector field. According to the requirements of the unmanned aerial vehicle for tracking and obstacle avoidance mission, a real-time method is proposed by combined algorithm of Lyapunov and potential. The features of this newly introduced algorithm are real-time, fast computing and obstacle avoidance capability which causes the algorithm to perform well in complex environments and applications like coordinated tracking of unmanned aerial vehicles. Improved potential flow field primarily provides obstacle avoidance feature and Lyapunov guidance vector field provides tracking feature for this newly introduced algorithm. To achieve the mission of tracking the target and avoid the obstacle at the same time, the guidance vector field by Lyapunov guidance vector field is taken as the original vector field of improved potential flow field. The results prove that the new hybrid and combined method is applicable to complex environments and complex application like coordinate tracking of moving target.

کلیدواژه‌ها [English]

  • Lyapunov Guidance Vector Field
  • Improved Potential Flow Field
  • Unmanned Aerial Vehicle
  • Tracking
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