四旋翼无人机三维航迹规划及跟踪控制

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

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.

Path planning of unmanned aerial vehicle（UAV） is to design a reasonable path which satisfies task requirements according to the distribution of terrains and threats. In order to meet three-dimension rapid path planning requirements, a three-dimension path planning method based on artificial potential filed is proposed. Firstly, the virtual force functions of goal and threats are defined, and three-dimension parameter constraint equations are deduced. The concept of combination of threats is proposed by us to deal with the space local minimal problem and the oscillation problem. Secondly, space circle interpolation is introduced to generate the smooth path. Besides, the time domain method for planning the smooth path is employed because it is convenient to UAV path tracking control. Finally, By virtue of global asymptotic stability theory, a closed-loop system that is global Lipschitz is designed, which guarantees the strict overall stability tracking control in the internal and the external loop. Simulations results validate the designed performance of path planning method and tracking control.