本論文主要是研究無人機編隊飛行(UAV Formation Flight)的導引率與
防撞控制，編隊飛行導引率的部分採用領導及追隨的控制方法
(Leader-Follower Method)，設定理想僚(Desire Follower)的位置，
計算僚機(Follower)與理想僚機之間的誤差，將非線性的系統線性化並
設計控制器，完成導引率的數學式。防撞控制分為長僚機的防撞方法與
僚機間的防撞方法，長僚機的防撞方法採用幾何碰撞錐法的方式，考慮
視線向量(Line-of-Sight Vector)和相對速度向量，加上碰撞半徑的限制來形成判斷條件，採取變更航向角的方式來完成長僚機的防撞。僚機間的防撞也是採取幾何的方式，考慮僚機間的距離形成單一判斷條件，採取變更僚機的加速度來完成防撞。最後在模擬中加入速度和加速度的限制，設計直線、轉彎和隊形變換的方式觀察編隊飛行和防撞控制在MATLAB 上的模擬結果。

This thesis mainly studies the design of the guidance law and collision
avoidance control for UAV formation flight. The leader-follower approach was
adopted for the guidance law development. The error between the follower’s
position and the desired position was used for the generation of the guidance
law. The collision avoidance controls involve the collision avoidance for
leader and follower, and for follower and follower. The collision avoidance
control for leader and follower is based on a geometric collision-cone
approach using the line-of-sight vector, the relative speed and the distance
between leader and follower as conditions for generation of the control
action. The collision avoidance law for the follower and follower is mainly
based on the distance between the followers. Gain scheduling was also
incorporated for the formation control to avoid large transient during mode
transition between collision avoidance control and formation control.
Computer simulations, including straight flight, level turn and regrouping
were conducted to demonstrate the success of the UAV formation flight and
collision avoidance control.

1 緒論1
2 編隊飛行設計4
2.1 無人機運動模型. . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 編隊飛行座標定義. . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 編隊飛行控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 防撞系統設計15
3.1 長僚機防撞設計. . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 僚機間防撞設計. . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4 數值模擬21
4.1 模擬參數. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 編隊飛行模擬. . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.3 防撞設計模擬. . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5 結論與未來展望45
參考文獻46
圖目錄
2.1 體坐標系下長機與理想僚機位置關係. . . . . . . . . . . . . . . 5
2.2 慣性坐標系下長機與理想僚機位置關係. . . . . . . . . . . . . . 6
2.3 文獻中長僚機編隊隊形. . . . . . . . . . . . . . . . . . . . . . . 8
2.4 長僚機編隊隊形. . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1 僚機防撞. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2 僚機間防撞. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.1 理想僚機與長機的相對位置. . . . . . . . . . . . . . . . . . . . 22
4.2 編隊飛行模擬方塊圖. . . . . . . . . . . . . . . . . . . . . . . . 24
4.3 防撞控制模擬方塊圖. . . . . . . . . . . . . . . . . . . . . . . . 25
4.4 直行編隊的飛行軌跡. . . . . . . . . . . . . . . . . . . . . . . . 26
4.5 直行編隊的僚機加速度. . . . . . . . . . . . . . . . . . . . . . . 27
4.6 直行編隊的僚機速度. . . . . . . . . . . . . . . . . . . . . . . . 27
4.7 直行編隊的僚機航向角. . . . . . . . . . . . . . . . . . . . . . . 28
4.8 直行編隊的僚機誤差. . . . . . . . . . . . . . . . . . . . . . . . 28
4.9 穩定轉彎的飛行軌跡. . . . . . . . . . . . . . . . . . . . . . . . 30
4.10 穩定轉彎的僚機總誤差. . . . . . . . . . . . . . . . . . . . . . . 30
4.11 穩定轉彎的僚機1 轉彎時誤差. . . . . . . . . . . . . . . . . . . 31

4.12 穩定轉彎的僚機2 轉彎時誤差. . . . . . . . . . . . . . . . . . . 31
4.13 穩定轉彎的僚機加速度. . . . . . . . . . . . . . . . . . . . . . . 32
4.14 穩定轉彎的僚機速度. . . . . . . . . . . . . . . . . . . . . . . . 32
4.15 穩定轉彎的僚機航向角. . . . . . . . . . . . . . . . . . . . . . . 33
4.16 防撞控制的飛行軌跡. . . . . . . . . . . . . . . . . . . . . . . . 34
4.17 防撞控制第一次變換的飛行軌跡. . . . . . . . . . . . . . . . . . 35
4.18 防撞控制第二次變換的飛行軌跡. . . . . . . . . . . . . . . . . . 35
4.19 防撞控制第三次變換的飛行軌跡. . . . . . . . . . . . . . . . . . 36
4.20 防撞控制的僚機誤差. . . . . . . . . . . . . . . . . . . . . . . . 36
4.21 防撞控制的僚機變換隊形的航向角. . . . . . . . . . . . . . . . . 37
4.22 防撞控制的僚機加速度. . . . . . . . . . . . . . . . . . . . . . . 37
4.23 防撞控制的僚機速度. . . . . . . . . . . . . . . . . . . . . . . . 38
4.24 防撞控制模擬方塊圖. . . . . . . . . . . . . . . . . . . . . . . . 40
4.25 加入增益規劃的飛行軌跡. . . . . . . . . . . . . . . . . . . . . . 41
4.26 加入增益規劃第一次變換的飛行軌跡. . . . . . . . . . . . . . . 41
4.27 加入增益規劃第二次變換的飛行軌跡. . . . . . . . . . . . . . . 42
4.28 加入增益規劃第三次變換的飛行軌跡. . . . . . . . . . . . . . . 42
4.29 加入增益規劃的僚機誤差. . . . . . . . . . . . . . . . . . . . . . 43
4.30 加入增益規劃的僚機加速度. . . . . . . . . . . . . . . . . . . . 43
4.31 加入增益規劃的僚機速度. . . . . . . . . . . . . . . . . . . . . . 44
4.32 加入增益規劃的僚機的航向角. . . . . . . . . . . . . . . . . . . 44

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