نوع مقاله : مقاله پژوهشی
نویسندگان
1 دانشگاه صنعتی امیرکبیر تهران
2 ذانشگاه صنعتی مالک اشتر تهران
چکیده
این پژوهش به مساله‌ای می‌پردازد که در آن دو دنبال‌کننده یک هدف با مانورپذیری بالاتر را دنبال می‌کنند. هدف مقاله ارائه یک قانون هدایت مشارکتی است که با استفاده از آن علیرغم کمتر بودن مانورپذیری دنبال‌کننده‌ها نسبت به هدف، خطای حالت نهایی حداقل یکی از دنبال‌کننده‌ها از یک حد آستانه کمتر باشد. در این راستا یک راهبرد مبتنی بر تفکیک بهینه نقش دنبال‌کننده‌ها ارائه می‌شود. مطابق این راهبرد نقش دنبال‌کننده‌ها به دو بخش 1) دنبال کردن هدف و 2) پوشش فضای گریز هدف تقسیم می‌شود و در هر لحظه دنبال‌کننده نزدیک‌تر به هدف سهم بیشتری در دنبال‌کردن هدف و دنبال‌کننده دورتر سهم بیشتری در پوشش فضای گریز هدف بر عهده دارد. در ادامه این راهبرد به صورت یک مساله کنترل غیرخطی بهینه مقید فرموله می‌شود؛ حل این مسئله، قانون هدایت مطلوب برای برآورده نمودن این راهبرد را نتیجه می‌دهد. جهت حل این مسئله هدایت غیرخطی بهینه مقید از روش کنار‌هم‌گذاری مستقیم همراه با برنامه‌ریزی غیرخطی که یک رویکرد بهینه‌سازی عددی است، استفاده می‌شود. در این مقاله فرض شده است که 1- دنبال‌کننده‌ها و هدف هر سه با سرعت ثابت حرکت می‌کنند و 2- دنبال‌کننده‌ها دارای ناحیه تخریب هستند، به این مفهوم که قرار گرفتن هدف در ناحیه‌ای اطراف دنبال‌کننده سبب منهدم شدن آن می‌شود. کارایی این قانون هدایت مشارکتی برای سناریوهای مختلف با استفاده از نتایج شبیه‌سازی متعدد اعتبارسنجی شده است.
کلیدواژه‌ها
عنوان مقاله [English]
Design of an Optimal Cooperative Guidance Law Confronting Evaders with High Maneuver
نویسندگان [English]
- Hossein Nouri 1
- Saeed Nasrollahi 2
چکیده [English]
The problem of cooperative guidance of two pursuers against an evader equipped with higher maneuverability is investigated. The goal is that the distance between the evader and at least one of the pursuers becomes less than a predetermined threshold at the end of the flight time. To achieve this goal, firstly, the roles of pursuers are divided into two units, which include 1) pursuing the evader 2) Observing the evader’s scape space. Secondly, a novel cooperative guidance law based on the optimal separation of roles of the pursuers is proposed and formulated into a constrained nonlinear optimal control problem. Thirdly, the problem is solved using the Direct Collocation with Nonlinear Programming (DCNLP) method which is an optimization approach. Finally, several numerical simulations are presented to verify the effectiveness of the proposed cooperative guidance law.
کلیدواژه‌ها [English]
- Terminal Phase Cooperative Guidance
- Highly Maneuverable Evader
- Optimal Separation of Roles
- Constrained Optimal Control
- Line of Sight Rate
- Direct Collocation with Nonlinear Programming
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