时空约束条件下多旋翼机动轨迹优化方法

多旋翼飞行器常应用于震后搜救、地质勘探等复杂多变的场景中，考虑到其续航能力及环境特点，优化多旋翼的飞行轨迹以更好更快地完成任务已成为关键问题之一。为此，设定多旋翼穿越室内斜缝的任务场景，提出了一种基于抛物原理和庞特里亚金极小值原理的多约束条件下轨迹优化方法。模仿将东西抛过窄窗的过程，从分析斜缝角度出发，设计一条抛物线轨迹，引导飞行器借助惯性越过斜缝，对于抛掷飞机所需的初始状态，利用庞特里亚金极小值原理设计状态转换轨迹实现。在MATLAB中搭建3D模型验证穿越效果，试验显示，多旋翼最大能穿越竖直方向63°倾斜或水平方向32°倾斜的斜缝。 

Maneuver trajectory optimization method of multicopter under space-time constraints

Multicopter are often used in complex and variable scenarios such as post-earthquake search and rescue, geological exploration, etc. Considering their endurance and environmental characteristics, optimizing the flight trajectory of multicopter to complete tasks better and faster has become a key issue. To this end, a multicopter's traversing indoor diagonal slit mission is set up, and a trajectory optimization method under multi-constraint based on the parabolic principle and the Pontryagin's minimum principle is proposed. By imitating the process of throwing things through a narrow window and from the perspective of analyzing the oblique slit of the task object, a parabolic trajectory is designed to guide the aircraft to cross the oblique slit with inertia. For the initial state required to throw the aircraft, Pontryagin's minimum principle is usedto realize the state transition trajectory. A 3D model was built in MATLAB to verify the crossing effect. The experiment shows that the multicopter can pass through the inclined seam with a vertical tilt of 63° or a horizontal tilt of 32°.