Journal of Computer Applications ›› 2024, Vol. 44 ›› Issue (9): 2938-2946.DOI: 10.11772/j.issn.1001-9081.2023091342
• Frontier and comprehensive applications • Previous Articles Next Articles
Lingxia MU1, Zhengjun ZHOU1, Ban WANG2(), Youmin ZHANG3, Xianghong XUE1, Kaikai NING1
Received:
2023-10-07
Revised:
2023-12-07
Accepted:
2023-12-12
Online:
2024-03-15
Published:
2024-09-10
Contact:
Ban WANG
About author:
MU Lingxia, born in 1988, Ph. D., associate professor. Her research interests include autonomous trajectory planning, guidance and control.Supported by:
穆凌霞1, 周政君1, 王斑2(), 张友民3, 薛向宏1, 宁凯凯1
通讯作者:
王斑
作者简介:
穆凌霞(1988—),女,江苏盐城人,副教授,博士,主要研究方向:自主轨迹规划、制导与控制基金资助:
CLC Number:
Lingxia MU, Zhengjun ZHOU, Ban WANG, Youmin ZHANG, Xianghong XUE, Kaikai NING. Formation obstacle-avoidance and reconfiguration method for multiple UAVs[J]. Journal of Computer Applications, 2024, 44(9): 2938-2946.
穆凌霞, 周政君, 王斑, 张友民, 薛向宏, 宁凯凯. 多无人机编队避障和编队重构方法[J]. 《计算机应用》唯一官方网站, 2024, 44(9): 2938-2946.
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URL: https://www.joca.cn/EN/10.11772/j.issn.1001-9081.2023091342
序号 | 输入 | 输出 | |||
---|---|---|---|---|---|
dg | do | α | β | γ | |
1 | PS | PB | PB | PM | PS |
2 | PS | PM | PB | PM | PS |
3 | PS | PB | PB | PS | PS |
4 | PM | PB | PS | PB | PS |
5 | PM | PM | PM | PM | PS |
6 | PM | PB | PM | PS | PB |
7 | PS | PB | PS | PB | PS |
8 | PS | PM | PM | PM | PM |
9 | PB | PB | PB | PS | PB |
Tab. 1 Fuzzy rules combined with DWA
序号 | 输入 | 输出 | |||
---|---|---|---|---|---|
dg | do | α | β | γ | |
1 | PS | PB | PB | PM | PS |
2 | PS | PM | PB | PM | PS |
3 | PS | PB | PB | PS | PS |
4 | PM | PB | PS | PB | PS |
5 | PM | PM | PM | PM | PS |
6 | PM | PB | PM | PS | PB |
7 | PS | PB | PS | PB | PS |
8 | PS | PM | PM | PM | PM |
9 | PB | PB | PB | PS | PB |
参数 | 值 | 参数 | 值 |
---|---|---|---|
20 m/s | 0.05 | ||
0.4 m/s2 | 0.2 | ||
20 deg/s | 0.1 | ||
0.4 deg/s2 |
Tab. 2 Initial parameter setting
参数 | 值 | 参数 | 值 |
---|---|---|---|
20 m/s | 0.05 | ||
0.4 m/s2 | 0.2 | ||
20 deg/s | 0.1 | ||
0.4 deg/s2 |
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