摘要
面向无人机四维航迹精确控制实践中出现的等速飞行约束下的定时定向到达飞行控制需求,本文针对由此带来的指定始/末端点及端点航向条件下的定航程轨迹规划问题,提出了一种启发式弹性改进Dubins路径搜索规划方法,基于Dubins最短路径曲线,设置适当的弹性拉伸点,通过对轨迹进行启发式弹性调整来搜索给定航程的最优解,实现了给定任意始/末端点位置、端点期望航向、航程以及无人机转弯性能曲线同时约束下的无人机在线航迹规划,仿真结果验证了该规划方法的可行性、有效性和计算效率。
Facing the 4D accurate path programming problem of UAV with narrow velocity envelop, under the constriction of fixed beginning vector, ending vector, minimum turning radius and fixed length, this article developed an improved elastic Dubins path programming method, which apply appropriate elastic stretching point and searches elastic distance by Heuristic method. Simulation results proved the feasibility, effectiveness and calculation efficiency of the planning algorithm.
作者
王海
陶呈纲
唐勇
杨朝旭
Wang Hai;Tao Chenggang;Tang Yong;Yang Zhaoxu(AVIC Chengdu Aircraft Design Research Institute,Chengdu 610091,China)
出处
《航空科学技术》
2019年第9期130-134,共5页
Aeronautical Science & Technology
关键词
改进Dubins路径
弹性拉伸
定航程
飞控仿真
飞行制导
improved Dubins-path
elastic stretching
fixed distance expection
flight control simulation
flight guidance
