一种基于最优控制的航路规划方法

A Method of Route Planning Based on Optimal Control Theory

阐述了一种与地形紧密结合的基于最优控制理论的航路规划方法。该方法利用二维三次卷积插值法构造地形函数， 采用三维的航路规划进行地形跟随、地形回避和威胁回避， 并对俯仰角进行ＰＤ （比例微分） 控制。该方法计算量小， 大大减小了规划时间， 提高了规划结果的实时性， 最优控制理论结合ＰＤ控制使得航路的三维规划鲁棒性好，有效地抑制了振荡和发散， 为低空突防的飞行器提供了很好的参考飞行航路。

On the basis of optimal control theory, this paper presents a method of route planning which connects with terrain tightly. This method creates terrain function based on two dimensional cubic convolution interpolation algorithm, then realizes terrain following, terrain avoidance and threat avoidance making use of three dimensional optimal route planning, and modifies pitching angle with proportional and differential (PD) control. The calculative quantity of the method is reduced which can shorten planning time and promote the real time capability. Optimal route planning together with PD control improves the robustness of three dimensional planning which restrains oscillate and divergence. The simulation illustrates that this method has the characteristics mentioned above. Thus, this method can provide preferable referenced flying routes for low altitude penetration airborne craft.