丘陵、盆地领航问题研究

空中领航是以地球表面为参考,引领飞机准时从一点飞到另一点的空中作业活动,任何飞行活动都离不开空中领航。丘陵、盆地作为我国东部、西部重要的地貌,占据着广阔的国土面积,其独特的地理特点和气象特征,对开展飞行活动尤其是实施空中领航影响巨大。本文从分析丘陵、盆地的地理、气象特点入手,结合长期的飞行实践,研究总结出了丘陵、盆地区域空中领航的方法、措施,这对于在丘陵、盆地地区开展相关领航问题研究有着重要的理论价值,对指导飞行实践具有积极的现实意义。

基于路径跟踪的平流层飞艇柔性编队控制

建立平流层飞艇驻空阶段动力学模型,在定高飞行前提下,采用小扰动方法对动力学方程进行线性化处理。提出采用路径跟踪的平流层飞艇柔性领航-跟随编队控制方法,领航者和跟随者通过速度控制与航向控制,分别跟踪保持特定距离的参考路径,实现编队的柔性控制。以采用直线路径跟踪和采用圆路径跟踪的三平流层飞艇编队控制为例,对提出的柔性编队控制方法进行仿真验证。仿真结果表明:提出的路径跟踪方法控制精度高,提出的柔性编队控制方法可以实现编队稳定运行,避免编队成员碰撞现象的发生。

Virtual local target method for avoiding local minimum in potential field based robot navigation

A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.