针对四旋翼飞行器提出了一种基于改进人工蜂群算法的三维航迹规划算法和基于线性自抗扰控制的轨迹跟踪控制策略, 以提高四旋翼飞行器在城市中的自主飞行能力。在实际应用中, 四旋翼的自主飞行必须考虑其飞行动力学特性。首先, 利用牛顿-欧拉法推导四旋翼的飞行动力学模型, 并建立障碍物模型与航迹代价模型; 然后, 引入人工蜂群算法来处理四旋翼的航迹规划, 并采用自适应策略、新的概率选择方式及立方混沌搜索算子来提高其性能; 最后, 根据时间尺度原理将四旋翼的动力学模型分为位置与姿态两个控制环, 并分别设计二阶线性自抗扰控制器来实现其轨迹跟踪。仿真结果表明,所提出的方法可为四旋翼规划出一条平滑可飞的航迹, 并且能够有效抑制外界扰动, 实现各控制环状态变量的稳定控制。

A 3D path planning algorithm based on the improved artificial bee colony algorithm and a trajectory tracking control strategy based on linear active disturbance rejection control are proposed for the quadrotor, so as to improve its ability of autonomous flight in the city area. In practical applications, UAV's autonomous flight should take its flight dynamics into consideration. Firstly, the flight dynamical model of the quadrotor is deduced by using Newton-Euler equation. Meanwhile, the obstacle model and the cost function of the flight path are set up.Then, the artificial bee colony algorithm is introduced to deal with the 3D path planning of the quadrotor. The adaptive search strategy, a novel probability selection strategy and the cubic chaotic searching operator are adopted to improve the performance of the original algorithm. Lastly, the dynamical model of the quadrotor is divided into the position loop and the attitude loop according to the time scale principle, and the second-order linear active disturbance rejection controller is designed to realize its trajectory tracking. The simulation result indicates that the proposed method can work out a smooth path for the quadrotor, effectively compensate for external disturbances, and realize the steady control of state variables of each control loop.