快速避障三维最优轨迹规划研究

Fast and Optimal Three Dimensional Trajectory Planning with Obstacle Avoidance Performance

针对无人作战飞机自主化任务需求,提出了一种"人在回路上"的UCAV自主任务规划解决方案;针对该方案中的UCAV快速自主轨迹规划需求,提出了基于高斯伪谱法的快速轨迹规划解决方案。该方案在充分考虑UCAV的气动力特性、发动机推力特性及大气环境特性的基础上建立了高精度的UCAV模型,详细分析并构建了比较真实的UCAV飞行包线约束模型和三维战场环境约束条件,在此基础上,构建了基于最优控制理论框架的UCAV轨迹规划模型;最后,详细分析并实现了采用GAUSS伪谱法求解该问题的实现过程。仿真结果表明,该方法能以较高的精度和速度生成满足各种复杂约束要求,连续并且真实可行的最优轨迹。

A ＂man-in-the-loop＂ task planning strategy was proposed to satisfy the growing autonomous need for Unmanned Combat Aircraft Vehicles （UCAVs）. A fast trajectory planning scheme was put forward based on Gauss Pseudospectral Method （GPM） considering the requirement of UCAVs. In the scheme, the UCAV aerodynamic characteristics, the thrust characteristics and the influence of atmosphere environments were taken into consideration, based on which a UCAV model with high accuracy was built up. A trajectory planning model was built up based on optimal control theory and analysis to various complicate constraints such as the UCAV flight envelop in real environment and three dimensional obstacle battlefields. Finally, the basic principle of using GPM to solve the o analyzed. Simulation results show that GPM ptimal control problem for UCAV trajectory planning was can generate a continuous, viable and optimal trajectory satisfying various complicated constraints.