基于量子遗传算法的翼伞系统归航轨迹规划

Homing trajectory planning of parafoil system based on quantum genetic algorithm

轨迹规划是翼伞系统自主归航任务的核心。针对归航轨迹规划,建立相应数学模型,提出了一种基于改进量子遗传算法的翼伞系统归航轨迹最优规划方法。在该方法中,首先引入非均匀B样条曲线拟合控制律,将轨迹规划最优控制问题转化为B样条基函数控制顶点的参数优化问题;然后采用改进的量子遗传算法对轨迹规划中目标函数进行寻优,从而引导并实现翼伞系统归航轨迹规划。对实际工况中不同初始条件下的翼伞系统进行归航轨迹规划仿真实验,结果表明,本方法是翼伞系统归航轨迹规划的一种有效方法,优化得到的控制律和轨迹符合翼伞系统自主归航控制的特点。

Trajectory planning is the core task in the autonomous homing of a parafoil system. In this paper,we establish a mathematical model for homing trajectory planning,and present an optimal homing trajectory planning method for parafoil systems based on an improved quantum genetic algorithm. In this method,we first adopt a nonuniform B-spline curve to fit the control law,so as to transform the problem of the optimal control of trajectory planning into a parameter optimization problem of the control vertices of the B-spline basis function. Then,using the improved quantum genetic algorithm,we optimize the objective function,and plan the homing trajectory of the parafoil system. We conducted simulation experiments under different initial states in the real environment. The results show that the method is effective for homing trajectory planning,and the obtained optimized control laws and homing trajectories meet the homing control feature requirements of parafoil systems.