个人信息Personal Information
教授
硕士生导师
主要任职:创新创业学院副院长
性别:男
毕业院校:大连理工大学
学位:博士
所在单位:创新创业学院
学科:控制理论与控制工程. 通信与信息系统. 检测技术与自动化装置
办公地点:创新创业学院,学生创新实践中心 407
联系方式:0411-84708792
电子邮箱:zhenyuwu@dlut.edu.cn
A state-prediction-based control strategy for UAVs in Cyber-Physical Systems
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论文类型:会议论文
发表时间:2017-01-01
收录刊物:Scopus
页面范围:691-694
摘要:Multiple Unmanned Aerial Vehicles(UAVs) are crucial for Cyber-Physical Systems(CPS). No collisions should be ensured between each other when executing a complex task. This paper proposes a state-prediction-based trajectory control strategy for UAVs. We first introduce the concept of 'space-time protection volume' under the constraint of the number of needed vehicles and the scope of the task space. The prediction model of hierarchical flight and collision probability is established. Based on the safety threshold, the flight strategy is given under the different condition through calculating the collision probability. Besides, in the communication condition of formation flight of UAVs, we further put forward the compensation method based on Kalman state estimation according to the communication noise caused by the bias of the information state. The simulation results show that our proposed scheme enhances the anti-noise ability of UAVs and effectively reduces the collision probability. ? 2016 IEEE.