| 基于Gauss伪谱法的多UAV协同航迹规划 |
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| 引用本文： | 白瑞光,孙鑫,陈秋双,全雄文.基于Gauss伪谱法的多UAV协同航迹规划[J].宇航学报,2014,35(9):1022-1029. |
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| 作者姓名： | 白瑞光 孙鑫 陈秋双 全雄文 |
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| 作者单位： | 1.南开大学计算机与控制工程学院，天津 300071；
2.北京机电工程研究所，北京 100074 |
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| 基金项目： | 国家自然科学基金（71172071）；高等学校博士学科点专项科研基金（20120031110036） |
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| 摘 要： | 将伪谱法应用于多无人飞行器（Unmanned Aerial Vehicle, UAV）协同航迹规划，给出了基于Gauss伪谱法（Gauss Pseudospectral Method, GPM）的多UAV协同航迹规划方法。根据UAV的物理特性，结合协同规划的要求，建立了多UAV协同规划的最优控制模型。此模型包括UAV机动性能约束、路径约束、多UAV协同打击约束和集结区约束；利用GPM将最优控制问题转化为非线性规划问题，并用非线性规划软件求解。仿真结果表明，该方法能够满足多UAV的协同规划要求，具有较高的求解精度。
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| 关 键 词： | 伪谱法 无人飞行器 协同航迹规划 |
| 收稿时间： | 2013-11-05 |
Multiple UAV Cooperative Trajectory Planning Based on Gauss Pseudospectral Method |
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| BAI Rui guang,SUN Xin,CHEN Qiu shuang,QUAN Xiong wen.Multiple UAV Cooperative Trajectory Planning Based on Gauss Pseudospectral Method[J].Journal of Astronautics,2014,35(9):1022-1029. |
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| Authors: | BAI Rui guang SUN Xin CHEN Qiu shuang QUAN Xiong wen |
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| Affiliation: | 1.College of Computer and Control Engineering, Nankai University， Tianjin 300071，China；
2. Beijing Electro-mechanical Engineering Institute， Beijing 100074，China |
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| Abstract: | Multi UAV cooperative trajectory planning is studied by using Gauss pseudospectral method (GPM). First, considering the physical features of UAV and the cooperative planning requirements, an optimal control model for multi UAV cooperative trajectory planning is proposed, and maneuverability constraint, path constraint, cooperative constraint and rendezvous constraint are analyzed and incorporated in the model. Then, the optimal control model is transformed into a nonlinear programming (NLP) problem by using GPM, and is solved by NLP software. Numerical experiments show that GPM can be used in multi UAV cooperative trajectory planning and the results demonstrate effectiveness and accuracy of the method. |
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| Keywords: | Pseudospectral method Unmanned aerial vehicle (UAV) Cooperative trajectory planning |
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