基于路径速度解耦的无人机编队协同轨迹规划

Cooperative trajectory planning for UAV formation based on path-speed decoupling

针对无人机编队在复杂机动情形下的协同轨迹规划问题,提出了一种基于路径速度解耦方法的预瞄自适应轨迹规划方法。在路径规划阶段,考虑无人机转弯机动的曲率限制,采用Dubins曲线作为路径构成的基本子结构。为得到最优的Dubins曲线连接控制点,设计了自适应预跟随路径特征的预瞄距离规划算法。在速度规划阶段,针对控制参数化与时间离散化(control parameterization and time discretization,CPTD)的速度规划方法,提出了栅格化空域下差异区间速度规划方法,简称为DIPR。仿真结果表明,预瞄距离自适应算法能够有效优化路径,对比固定预瞄距离方法在转向弧度上平均减少30.70%,在跟踪偏离上减少16.41%,在路径长度上缩短10.87%。对比CPTD方法,DIPR平均提前30代收敛,收敛值平均提高10.67%,编队完成队形集结时间平均缩短15.4 s。得到结果更快更优,并且速度曲线结果连续平滑。

Aiming at the problem of cooperative trajectory planning for unmanned aerial vehicle(UAV)formation in complex maneuvering situation,a preview adaptive trajectory planning method based on path-speed decoupling method is proposed.In the path planning stage,considering the maneuvering curvature restrictions of UAV turning motion,the Dubins curve is used as the basic substructure of the path.In order to obtain the optimal connection control point of the Dubins curve,a preview distance planning algorithm with adaptive prefollowing path characteristics is designed.In the velocity planning stage,aiming at the control parameterization and time discretization(CPTD)velocity planning method,a differential zone velocity planning method under rasterized airspace is proposed,which is shortened to DIPR.The simulation results show that the preview distance adaptive algorithm can effectively optimize the path.Compared with the fixed preview distance method,the turning degree is reduced by an average 30.70%,and the tracking deviation is reduced by 16.41%,the path length is decreased by 10.87%.Compared with CPTD method,DIPR converges 30 generation earlier,and the convergence value increases by 10.67%in average.The formation time is reduced by an average of 15.4 s.The results are obtained faster and better,and the speed curve results are continuous and smooth.