摘要
针对翼伞系统在多威胁障碍环境下的最优轨迹规划问题,提出了一种结合改进RRT*算法和高斯伪谱法的混合策略方法。根据翼伞运动模型特点,改进了原始RRT*算法的距离度量和节点扩展方式,采用目标偏向的采样策略加快算法找寻初始轨迹的速度;根据翼伞系统的四自由度运动模型建立以控制量为目标函数的最优控制问题,利用高斯伪谱法将最优控制的轨迹规划问题转换为带约束的非线性规划问题,再将初始轨迹作为该非线性规划问题的初始解以减少迭代次数、加快收敛速度。仿真结果表明,所提方法在多威胁障碍环境下可以规划出满足要求的最优轨迹,且比原高斯伪谱法节约了大量运行时间。
For the problem of optimal trajectory planning of parafoil system in obstacle-rich environment,a hybrid strategy method combining improved RRT*algorithm and Gauss pseudospectral method is proposed.Firstly,according to the characteristics of the parafoil motion model,the distance measurement and node expansion method of the original RRT*algorithm are improved,and the sampling strategy of target bias is used to speed up the algorithm to find the initial trajectory.According to the four-degree-of-freedom motion model of the parafoil,an optimal control with the control amount as the objective function is established,and the trajectory planning problem of optimal control is converted into a nonlinear programming problem with constraints using Gauss pseudospectral method.The initial solution of the linear programming problem is to reduce the number of iterations and speed up the convergence speed.Simulation results show that the method in this paper can plan the optimal trajectory to meet the requirements in obstacle-rich environment,and save a lot of running time than the original Gauss pseudospectral method.
作者
张康
陈建平
ZHANG Kang;CHEN Jianping(College of Aerospace Engineering,NUAA,Nanjing 210016,China)
出处
《飞行力学》
CSCD
北大核心
2021年第2期58-62,共5页
Flight Dynamics
基金
江苏高校优势学科建设工程资助项目。
关键词
翼伞系统
多威胁障碍
RRT*算法
高斯伪谱法
最优轨迹
parafoil system
obstacle-rich
RRT*algorithm
Gauss pseudospectral method
optimal trajectory
