Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control |
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Authors: | Zhang Yu Chen Jing Shen Lincheng |
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Institution: | College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, China |
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Abstract: | This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle (UCAV) performing autonomous air-to-surface (A/S) attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem (RHC-OCP). In particular, an approximate elliptic launch acceptable region (LAR) model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHC-OCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncertain environment, a two-degree-of-freedom (2-DOF) receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demonstrate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment. |
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Keywords: | Air-to-surface attack Direct method Inverse dynamics Motion planning Real time control Receding horizon control Trajectory planning Unmanned combat aerial vehicles |
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