| 基于RHC的无人机自主轨迹优化算法研究 |
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| 引用本文： | 张航,王琦.基于RHC的无人机自主轨迹优化算法研究[J].航空计算技术,2007,37(4):67-70. |
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| 作者姓名： | 张航 王琦 |
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| 作者单位： | 飞行自动控制研究所,陕西,西安,710065 |
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| 摘 要： | 介绍了一种无人机长航程飞行的轨迹优化的新方法.在禁飞区、最大航速和曲率等约束条件下,在滚动时域控制RHC(Receding Hoirzon Control)框架中使用混整线性规划MILP(Mix-Integer Linear Programming)来设计无人机最短时间的航迹,其中引入罚函数来说明从航迹端点到达目标点的估计时间.仿真结果表明,使用这种方法,无人机可以顺利穿过障碍物区域,可以处理确定时间窗口的控制FHC(Fixed Horizon Controller)难于处理的长航程复杂优化问题.
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| 关 键 词： | 轨迹优化 RHC MILP FHC 无人机 轨迹优化 算法研究 Receding Horizon Control Optimization Algorithm Trajectory 优化问题 Fixed Controller 控制 时间窗口 处理 区域 障碍 仿真结果 估计 目标点 端点 罚函数 航迹 |
| 文章编号： | 1671-654X(2007)04-0067-04 |
| 修稿时间： | 2007年3月29日 |
Study on Trajectory Optimization Algorithm for UAV Using Receding Horizon Control |
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| ZHANG Hang,WANG Qi.Study on Trajectory Optimization Algorithm for UAV Using Receding Horizon Control[J].Aeronautical Computer Technique,2007,37(4):67-70. |
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| Authors: | ZHANG Hang WANG Qi |
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| Abstract: | A new method is presented for the UAV's large trajectory optimization.MILP(Mix-Integer Linear Programming) has been applied within a RHC(Receding Horizon Control) framework to plan the UAV's trajectory to a goal,constrained by no-fly zones and the UAV's maximum speed and turning rate.The terminal penalty is used to accounts for estimation of the time from this point to the goal.The emulator's result shows that,using this method,the UAV can triumphantly get through the areas with obstacles,and to work consistently on large trajectory optimization problems that are intractable for the FHC(Fixed Horizon Controller). |
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| Keywords: | trajectory optimization receding horizon control(RHC) mix-integer linear programming(MILP) fixed horizon controller(FHC) |
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