Study on safety boundary of cognitive anti-collision system for unmanned aerial vehicle

被引：0
|
作者：
Xu Z.-F. [2 ]
Wei R.-X. [1 ]
Zhou K. [1 ]
Zhang Q.-R. [1 ]
机构：
[1] Aeronautics Engineering College, Air Force Engineering University, Xi'an, 710038, Shaanxi
[2] Joint Operations College, National Defense University, Shijiazhuang, 050084, Hebei
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Anti-collision stability; Cognitive anti-collision system; Safety boundary; UAVs;
D O I：
10.7641/CTA.2019.80809
中图分类号：
学科分类号：
摘要：
The cognitive anti-collision control method is a novel idea to build anti-collision control of UAV in complex dynamic environment by using human cognition intelligence. The safety boundary of cognitive decision-making is an important issue in system design. This paper considers the interaction between obstacles and UAVs as a whole, and establishes a "cognitive UAV-environment system" model. Furthermore, the anti-collision stability of the system is defined, and the anti-collision stability condition of the cognitive UAV-environment system is derived. On this basis, by analyzing the safety feature of anti-collision stability, the safety boundary of the UAV cognitive anti-collision system for dynamic forward collision is solved. The simulation experiment analyzes the safety boundary characteristics and anti-collision control requirements of the "Lark" UAV, and the comparation with other methods is carried out at last. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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收藏
页码：776 / 783
页数：7
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