中文摘要：

针对无人机编队飞行过程中的机间防碰撞、障碍物规避问题,提出了基于改进人工势场的防碰撞控制方法。利用一致性理论,引入了通信拓扑和通信权重的概念,给出了改进的机间人工势场函数和作用区域。定义了无人机与空域障碍物的斥力势,构建了受二者相对运动速度影响的辅助斥力势,使无人机高效地规避障碍物,并给出了机间防碰撞、障碍物规避的总速度场。提出了防碰撞控制算法,给出了速度、俯仰角、偏航角等防碰撞指令;设计了一种飞行控制器来跟踪防碰撞指令,构建了含防碰撞控制算法、飞行控制器的完整编队系统。三维飞行仿真结果表明：所提编队防碰撞控制方法可以快速实现机间防碰撞,并能有效规避空域障碍物。

英文摘要：

For the formation flight of unmanned aerial vehicles（ UAVs）,the problems of collision avoidance among UAVs and obstacle avoidance were investigated. In addition,a collision avoidance control method based on the improved artificial potential field was proposed. The concepts of communication topology and communication weights were introduced via consensus theory. The improved artificial potential field function was given with its effective range. The repulsive potential field between the UAV and an obstacle was defined,and an auxiliary repulsive potential affected by the relative velocity between them was constructed to make the UAV avoid the obstacle more efficiently. Moreover,a total velocity field for collision avoidance and obstacle avoidance was formulated. A collision avoidance algorithm was proposed to generate the orders of velocity,pitch angle,and yaw angle. A flight controller was designed to track these orders,and a whole formation system containing the collision avoidance control algorithm and flight controller was constructed. Three-dimensional flight simulation results show that the proposed method could achieve collision avoidance among UAVs quickly,as well as avoid obstacles effectively.