摘要
介绍了一种无人机长航程飞行的轨迹优化的新方法。在禁飞区、最大航速和曲率等约束条件下,在滚动时域控制RHC(Receding Horizon Control)框架中使用混整线性规划MILP(Mix-IntegerLinear Programming)来设计无人机最短时间的航迹,其中引入罚函数来说明从航迹端点到达目标点的估计时间。仿真结果表明,使用这种方法,无人机可以顺利穿过障碍物区域,可以处理确定时间窗口的控制FHC(Fixed Horizon Controller)难于处理的长航程复杂优化问题。
A new method is presented for the UAV＇s large trajectory optimization. MILP （Mix-Integer Linear Programming） has been applied within a RHC （Receding Horizon Control） framework to plan the UAV＇s trajectory to a goal, constrained by no-fly zones and the UAV＇s maximum speed and turning rate. The terminal penalty is used to accounts for estimation of the time from this point to the goal. The emulator＇s result shows that, using this method, the UAV can triumphantly get through the areas with obstacles, and to work consistently on large trajectory optimization problems that are intractable for the FHC （Fixed Horizon Controller）.
出处
《航空计算技术》
2007年第4期67-70,共4页
Aeronautical Computing Technique
关键词
轨迹优化
RHC
MILP
FHC
trajectory optimization
receding horizon control （ RHC ）
mix -integer linear programming （MILP）
fixed horizon controller（FHC）
