四旋翼无人机的运动控制与轨迹规划

Motion Control and Trajectory Planning of Quadrotor Unmanned Aerial Vehicle

四旋翼无人机的飞行控制系统具有耦合性强、非线性、驱动数量比自由度少的特点,在飞行过程中存在诸多不可预知的障碍等,使得控制系统设计难度较大.课题针对四旋翼无人机控制存在的不足之处进行探究改进,对四旋翼无人机的运动控制与轨迹规划做了研究,设计了四旋翼无人机的控制系统、对飞行轨迹进行跟踪、并规划了无人机飞行轨迹,最后通过MATLAB软件对三种飞行轨迹进行模拟仿真.仿真结果表明,改进后的无人机能够平稳地运行,具有较强的自适应能力,能实现自主避障规划路线、快速灵活地飞行,从而验证了设计方案合理可行,具有实际应用价值.

The flight control system of a quadcopter unmanned aerial vehicle(UAV)has the characteristics of strong coupling,nonlinearity,and fewer drives than degrees of freedom.There are many unpredictable obstacles during the flight process,making the design of the control system more difficult.The project explores and improves the deficiencies in the control of quadcopter UAV.It studies the motion control and trajectory planning of quadcopter UAV,designs the control system of quadcopter UAV,tracks flight trajectories,and plans the flight trajectories of UAV.Finally,three flight trajectories are simulated using MATLAB software.The simulation results show that the improved UAV can operate smoothly,has strong adaptive ability,can achieve autonomous obstacle avoidance planning route,and fly quickly and flexibly,thus verifying the rationality and feasibility of the design scheme,and has practical application value.