考虑速度约束的无人机Dubins路径规划

Dubins Path Planning of UAV Considering Velocity Constraint

针对目前关于Dubins路径的研究未考虑速度约束的情况,根据Dubins路径的特点,提出了速度控制算法实现无人机对Dubins路径的有效跟踪。首先为无人机生成满足要求的Dubins路径,随后采用速度控制方法对无人机跟踪Dubins路径进行控制,并通过设置虚拟位姿点的方法,使无人机完成速度大小的调整,以期望速度大小到达任务点,实现了无人机在路程、速度约束条件下的运动控制。最后利用四旋翼无人机平台进行了飞行验证,实验及仿真结果表明了该方法简便可行,易于实现。

The velocity control algorithm is proposed according to the situation that the researches of Dubins path don’t consider the constraint of velocity.Design Dubins path for the UAV first,then employ the velocity control way to control it and set the virtual location point to make it arrive at the final point with specified velocity,which realizes the motion control of UAV with constraint of distance and velocity.A quadrotor UAV platform is introduced.Outdoor experiments are performed to demonstrate the convenience and feasibility of the proposed way.