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Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task 被引量:7
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作者 Chen Yongbo Yu Jianqiao +3 位作者 Mei Yuesong Zhang Siyu Ai Xiaolin Jia Zhenyue 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2016年第1期184-201,共18页
A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial veh... A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial vehicles in the collaborative assembling task. Firstly, the path planning process is solved by a novel parallel intelligent optimization algorithm, the central force optimization-genetic algorithm (CFO-GA), which combines the central force optimization (CFO) algorithm with the genetic algorithm (GA). Because of the immaturity of the CFO, the convergence analysis of the CFO is completed by the stability theory of the linear time-variant discrete-time sys- tems. The results show that the parallel CFO-GA algorithm converges faster than the parallel CFO and the central force optimization-sequential quadratic programming (CFO-SQP) algorithm. Then, the trajectory planning problem is established based on the path planning results. In order to limit the range of the attitude angle and guarantee the fight stability, the optimized object is changed from the ordinary six-degree-of-freedom rigid-body dynamic model to the dynamic model with an inner-loop attitude controller. The results show that the trajectory planning process can be solved by the mature SQP algorithm easily. Finally, the discussion and analysis of the real-time per- formance of the hierarchic optimization strategy are presented around the group number of the wav^oints and the eoual interval time. 展开更多
关键词 Hierarchic optimizationstrategy Parallel CFO-GA algorithm Path planning Six degree-of-freedom rigid-body dynamic model Trajectory optimization Trajectory planning
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