四旋翼无人机三维航迹规划及跟踪控制

无人机航迹规划是指根据地形和威胁分布,规划出满足任务要求的合理航迹.为了满足三维空间快速规划的需求,提出了一种基于人工势场的三维航迹规划方法.首先,定义了目标和威胁物的虚拟力函数,推导出了三维空间参数约束方程,并采用联合威胁概念解决三维空间局部极小和振动问题;其次,引入空间圆弧插补技术生成光滑航迹;此外,为方便跟踪控制,提出了航迹时域化方法;最后,利用动态系统全局渐近稳定定理,设计具有全局Lipschitz的闭环系统,实现了具有内外环严格稳定性的双环轨迹跟踪控制.仿真结果验证了航迹规划和跟踪算法的有效性.

Three-dimension path planning and trajectory tracking control for quadrotor unmanned aerial vehicle

Path planning of unmanned air vehicles refers to reasonable route that is demanded to complete the tasks according to distributing of terrain and threats in specific conditions. In order to solve three-dimension path planning problem, this brief presents a novel method based on artificial potential filed for unmanned air vehicles. First of all, the virtual forces of goal and threats are defined, and constraint equation was derived. Then, in order to improve flying efficiency, space circle interpolation was creatively used to generate the smoothing route through a sequence of waypoints, and complete theoretical framework was presented. In addition, time domain method of path is proposed. Finally, By virtue of global asymptotic stability theory, a trajectory tracking controller of the closed-loop systems which guarantees strict overall stability is designed. The process from path planning to path tracking was realized. The simulating results validate the good performance of path planning and tracking controller.