复杂动态环境下无人飞行器动态避障近似最优轨迹规划

针对复杂动态环境下无人飞行器的动态障碍规避问题，基于合理假设建立了无人飞行器和动态障碍的运动学模型，并综合考虑无人飞行器飞行过程中的终端约束、控制输入约束、安全避障约束等，以能量最少为性能指标构建动态避障问题数学描述。之后，针对终端约束和控制输入约束，依据优化模型预测静态规划算法(OMPSP)生成初始轨迹；针对动态避障问题的不等式约束，引入松弛变量并结合滑模变结构控制方法设计松弛变量动力学，实现对一个、多个或同时多个动态障碍的安全规避；最后，依据有限时间微分动态规划(RHDDP)算法进行轨迹优化，获得满足上述各种约束并能规避动态障碍的近似最优轨迹。

Near Optimal Dynamic Obstacle Avoidance Trajectory Programming for Unmanned Aerial Vehicles

With regarding to the dynamic obstacle avoidance problem in the dynamic environment encountered by the current unmanned aerial vehicles (UAVs), the kinetics of both the UAV and dynamic obstacles are established on the basis of the appropriate hypothesis, and the terminal constraints, control limitations as well as safe avoidance are taken into consideration. With the minimal energy consumption as the performance index, the dynamic obstacle avoidance problem is described mathematically. Then, with regarding to the terminal constraints and control limitations, an initial trajectory is generated according to the Optimized Model Predictive Static Programming (OMPSP). Against to the inequality constraint resulting from the dynamic obstacle avoidance, the slack variables are introduced and combined with the sliding mode control, and their dynamics are designed to implement the avoidance trajectory for single or multiple dynamic obstacles simultaneously. Eventually, the trajectory is further optimized by Receding Horizontal Differential Dynamic Programming (RHDDP). Consequently, a near optimal trajectory which satisfies multiple constraints and is capable of avoiding dynamic obstacles is developed.