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密集的城市障碍环境以及复杂的城市风场干扰对航迹规划的实时性和航迹跟踪的准确性提出了严格要求,为此提出一种城市风场环境中的小型无人机(UAVs)快速航迹规划方法。首先,为了保证航迹规划的高效性,对固定翼无人机运动学方程进行了合理简化。其次,由于障碍环境中的最优航迹难以直接完全塑造,因此根据状态受限的最优控制理论给出了可以使用螺旋线与直线构建近似最优航迹的结论,并据此提出了一种针对城市环境的三维航迹规划方法。然后,通过对无人机运动学模型的分析,从规划角度提出了风场干扰下的航迹设计准则。仿真实验中,首先通过算法对比实验,验证了航迹规划方法的高效性;然后使用六自由度(DOF)飞机模型分别在无风场干扰和有风场干扰的环境下进行了航迹跟踪实验,实验结果证明了风场干扰下航迹设计准则的有效性。
Dense urban obstacle environment and complex urban wind field interference set strict requirements on the real-time planning and the accuracy of the trajectory tracking. Therefore, a UAV (Rapid UAVs) Route planning method. First of all, in order to ensure the efficiency of track planning, the UAV fixed-wing kinematics equations were simplified. Secondly, because the optimal trajectory in obstacle environment can not be directly and completely modeled, the conclusion that the optimal trajectory can be constructed by using the spiral and the straight line is given based on the optimal state control theory. Based on this, Three-dimensional trajectory planning method for urban environment. Then, based on the analysis of the kinematics model of UAV, the trajectory design criteria under wind disturbance are proposed from the planning point of view. In the simulation experiment, the efficiency of the trajectory planning method is verified by comparison experiments. Then the DOF flight model is used to track the trajectory without wind field disturbance and wind field disturbance respectively The experimental results show the validity of the track design criterion under wind disturbance.