摘要
无人机路径规划通常采用航点设置和过点曲线拟合的方法实现,期望航向角分段给定,不随航线的改变自动修改期望航向,不具有期望航向和期望位置自动快速生成能力。提出一种适用于复杂飞行任务路径规划的矢量场算法,并开发仿真验证系统验证其有效性。引入矢量场概念设计航向角制导律,使处于任意位置的飞行器能按期望航向角平滑飞抵期望目标路径,沿期望目标路径完成飞行任务;以隐函数方程建立期望路径矢量场,几何分析矢量场路径规划的原理,基于李雅普诺夫稳定性理论证明规划路径误差的有界性,距离误差和航向角误差在航向制导律作用下均能稳定收敛于0;以倾转四旋翼无人机定高飞行任务路径规划为例,应用矢量场方法采用分段过渡策略规划平滑飞行的期望路径,并进行仿真验证。结果表明:矢量场路径规划算法可行,是一种有效的快速飞行路径规划方法。
The methods of waypoint setting and point curve fitting which are not complex was usually adopted in the path planning of UAV,and the expected heading angle is given in segments.The expected heading angle does not automatically modified with changes in the route.The ability to automatically and quickly generate the expected heading and position is lacking.A vector field algorithm suitable for complex flight mission path planning is studied,and a simulation verification system to verify the effectiveness of its algorithm is developed in this paper.The concept of vector field is introduced in order to design a heading angle guidance law.An aircraft at any position can smoothly fly to the desired target path along the desired heading angle,and then complete the flight task along the desired target path.The implicit function equation is used to establish the desired path vector field,and the principle and method of path planning based on vector field are geometrically analyzed.According to the Lyapunov stability theory,the boundedness of the planned path error is proved.The distance error and the heading angle error can be stably converged to 0 with the help of the heading guidance law.Taking the path planning of the altitude hold mission for a quad tiltrotor UAV as an example,the desired path of smooth flight is planned using the vector field method and the piecewise transition strategy.The verification is conducted and some simulation results are given,which show that the vector field path planning algorithm is feasible and effective for the mission flight planning of an aircraft.
作者
姜楠
徐锦法
JIANG Nan;XU Jinfa(National Key Laboratory of Rotorcraft Aeromechanics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《航空工程进展》
CSCD
2024年第4期39-49,63,共12页
Advances in Aeronautical Science and Engineering
基金
江苏高校优势学科建设工程资助项目
直升机旋翼动力学国家级重点实验室基金(61422202204,9140C400504130C4148)。
关键词
矢量场
路径规划
隐函数方程
李雅普诺夫稳定性
分段过渡策略
可视化仿真
vector field
path planning
implicit function equation
Lyapunov stability
piecewise transition strategy
visual simulation
