四旋翼无人机的轨迹规划跟踪控制研究

针对四旋翼无人机的实际应用需求，开展轨迹跟踪控制研究。提出了一种基于快速扩展随机树（RRT）算法的Dubins航迹规划方法，同时搭建了四旋翼模型，并设计了轨迹跟踪控制方案对所提出的规划路径进行了轨迹跟踪仿真。该RRT-Dubins算法采用RRT算法对有障碍区域的无人机路径进行有效规划，然后利用Dubins路径对规划出的轨迹进行平滑处理，以形成一条无人机可飞行路径。仿真实验表明，采用所提出的轨迹规划方法及路径可以较好地规避障碍区域，且轨迹平滑更适合无人机飞行，同时验证了所提轨迹跟踪控制方案的有效性。

Research on Trajectory Planning and Tracking Control of Quadrotor Aircraft

Aiming at the practical application requirements of quadrotor Unmanned Aerial Vehicle (UAV), the trajectory tracking control research is carried out. A Dubins trajectory planning method based on Rapidly-exploring Random Tree (RRT) algorithm is proposed, and a quadrotor model is built. A trajectory tracking control method is designed to perform trajectory tracking simulation on the proposed planned path. The RRT-Dubins algorithm uses the RRT algorithm to effectively plan the path of UAV in obstacle areas, and then uses the Dubins path to smooth the planned trajectory to form a flight path for UAVs. Simulation experiments show that the trajectory planning method and path proposed in the paper can better avoid obstacle areas, and the trajectory smoothing is more suitable for UAV flight. At the same time, the effectiveness of the proposed trajectory tracking control method is verified.