摘要
随着无人飞行器(Unmanned Aerial Vehicle,UAV)在三维空间中执行的任务越来越复杂,快速有效地对UAV进行路径规划并设计出相应的路径跟踪控制律,已经成为UAV飞行控制技术研究的热点问题之一。为此,提出一种基于三维Pythagorean Hodograph(PH)曲线的UAV快速有效路径规划方法,并依据UAV三维PH路径的特点设计出相应的路径跟踪控制律。通过Matlab仿真,验证了提出的UAV三维路径规划和路径跟踪控制律设计方法的有效性和可行性。
With the missions of Unmanned Aerial Vehicle(UAV)in three-dimensional space are more and more complex,fast and effective method of path planning and corresponding tracking control law for UAV is becoming a hot topic of flight control for UAV.Therefore,a fast and effective path planning method based on three-dimensional Pythagorean Hodograph(PH)curve for UAV is proposed,and the corresponding tracking control law based on the characteristics of UAV three-dimensional PH path is designed.Through the Matlab simulation,the simulation results verify the effectiveness and feasibility of the three-dimensional path planning method and corresponding tracking control law for UAV.
作者
周硙硙
ZHOU Weiwei(The First Military Representative of Navy Equipment Department in Nanjing,Nanjing 210001)
出处
《舰船电子工程》
2021年第9期62-65,共4页
Ship Electronic Engineering
