无人机覆盖路径规划中转弯机动的运动学分析  

Kinematics analysis of UAV turning motion in coverage path planning

作　　者：陈海[1] 王新民[1] 焦裕松[1] 李俨[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《飞行力学》2010年第2期31-34,共4页Flight Dynamics

摘　　要：针对无人机覆盖路径规划过程与机器人的不同,对无人机转弯机动的运动学特性进行了分析。建立了无人机转弯机动的数学模型;证明了转弯过程比直线平飞需要耗费更多的燃油;推导出了转弯过程中,给定巡航速度下最省油的法向过载计算公式;分析了转弯过程中探测区域移动路线与无人机移动路线之间的关系,并分三种情况给出了转弯过程中转弯路程和转弯时间的计算公式。Compared with the difference between robots and UAVs, the kinematics property of the UAV turning motion in the coverage path planning is investigated in this paper. The mathematical model of the turning motion is presented. It is proved that, compared with flat flying, the turning motion is less efficient in fuel consumption. A formula to obtain the normal acceleration for minimum fuel consumption under a given flying velocity is proposed. The relationship between the detecting path and the flying path of turning motion is analyzed. Finally, the distance and duration of the turn are calculated in three different situations.

关 键 词：无人机 覆盖路径规划 运动学 法向过载 转弯路程 转弯时间 

分 类 号：V279[航空宇航科学与技术—飞行器设计]