快速避障三维最优轨迹规划研究

刘鹤鸣; 黄长强; 黄汉桥; 丁达理

doi:doi:10.3969/j.issn.1671-637x.2013.03.001

电光与控制, 2013, 20 (3): 1, 网络出版: 2013-03-27

快速避障三维最优轨迹规划研究

Fast and Optimal Three Dimensional Trajectory Planning with Obstacle Avoidance Performance

论文大纲

刘鹤鸣黄长强黄汉桥丁达理

作者单位

空军工程大学航空航天工程学院, 西安 710038

无人作战飞机三维最优轨迹规划飞行包线高斯伪谱法 Unmanned Combat Aircraft Vehicle (UCAV) 3D optimal trajectory planning flight envelop Gauss Pseudospectral Method(GPM)

摘要

针对无人作战飞机自主化任务需求, 提出了一种“人在回路上”的UCAV自主任务规划解决方案; 针对该方案中的UCAV快速自主轨迹规划需求, 提出了基于高斯伪谱法的快速轨迹规划解决方案。该方案在充分考虑UCAV的气动力特性、发动机推力特性及大气环境特性的基础上建立了高精度的UCAV模型, 详细分析并构建了比较真实的UCAV飞行包线约束模型和三维战场环境约束条件, 在此基础上, 构建了基于最优控制理论框架的UCAV轨迹规划模型; 最后, 详细分析并实现了采用GAUSS伪谱法求解该问题的实现过程。仿真结果表明, 该方法能以较高的精度和速度生成满足各种复杂约束要求, 连续并且真实可行的最优轨迹。

Abstract

A “man-in-the-loop” task planning strategy was proposed to satisfy the growing autonomous need for Unmanned Combat Aircraft Vehicles (UCAVs).A fast trajectory planning scheme was put forward based on Gauss Pseudospectral Method (GPM) considering the requirement of UCAVs.In the scheme the UCAV aerodynamic characteristics the thrust characteristics and the influence of atmosphere environments were taken into consideration based on which a UCAV model with high accuracy was built up.A trajectory planning model was built up based on optimal control theory and analysis to various complicate constraints such as the UCAV flight envelop in real environment and three dimensional obstacle battlefields.Finally the basic principle of using GPM to solve the optimal control problem for UCAV trajectory planning was analyzed.Simulation results show that GPM can generate a continuous viable and optimal trajectory satisfying various complicated constraints.

参考文献

[1] Office of the Secretary of Defense.Unmanned systems roadmap 2007-2032 ［R］.DoD Washington DC,2007.

[2] ANUSHA M PADHI R.Evolving philosophies on autonomous obstacle/collision avoidance of unmanned aerial vehicles ［J］.Journal of aerospace computing information and communication 2011 8(2):17-41.

[3] RICHARDS N D SHARMA M WARD D G.A hybrid a star automation approach to on-line path planning with obstacle avoidance［C］//Chicago:Intelligent Systems Technical Conference 2004:1-17.

[4] SEAN Q M JACK W L.Dynamically sized occupancy grids for obstacle avoidance［C］//Toronto:AIAA Guidance Navigation and Control Conference 2010:AIAA-2010-7848.

[5] JUNG L F KALIVARAPU J OLIVER V J et al. Path planning of unmanned aerial vehicles using B-splines and particle swarm optimization ［J］.Journal of aerospace computing information and communication 2009,6(4):271-290.

[6] GONG Qi LEWIS L R ROSS I M.Pseudospectral motion planning for autonomous vehicles［J］.Journal of Guidance Control and Dynamics 2009 32(3):1039-1045.

[7] RAO A V.A survey of numerical methods for optimal control ［J］.Advances in the Astronautical Sciences,2009,135(1):497-528.

[8] BENSON D A HUNTINGTON G T THORVALDSEN T P et al.Direct trajectory optimization and costate estimation via an orthogonal collocation method［J］.Journal of Guidance Control and Dynamics 2006 29(6):1435-1440.

[9] HUNTINGTON G T BENSON D RAO A V.A comparison of accuracy and computational efficiency of three pseudospectral methods［C］//Proceedings of AIAA Guidance Navigation and Control Conference American Institute of Aeronautics and Astronautics Hilton Head 2007 AIAA-2007-6405:1-43.

[10] BETTS J T.Survey of numerical methods for trajectory optimization ［J］.Journal of Guidance Control and Dynamics 1998 21(2):193-207.

[11] 张煜, 张万鹏, 陈璟, 等．基于Gauss伪谱法的UCAV对地攻击武器投放轨迹规划［J］．航空学报,2011,32(7):1240-1251.

[12] HUNTINGTON G T.Advancement and analysis of a Gauss psedospectral transcription for optimal control problems［D］.Boston:MIT 2007.

刘鹤鸣, 黄长强, 黄汉桥, 丁达理. 快速避障三维最优轨迹规划研究[J]. 电光与控制, 2013, 20(3): 1. LIU Heming, HUANG Changqiang, HUANG Hanqiao, DING Dali. Fast and Optimal Three Dimensional Trajectory Planning with Obstacle Avoidance Performance[J]. Electronics Optics & Control, 2013, 20(3): 1.

快速避障三维最优轨迹规划研究

关于本站 Cookie 的使用提示

全站搜索

快速避障三维最优轨迹规划研究

相关论文

相关资讯

关于本站 Cookie 的使用提示

全站搜索