基于改进GPC的无人直升机动态路径规划  

Unmanned helicopter dynamic flight path planning based on improved generalized prediction control method

作　　者：翟文鹏[1] 齐莉[1] 吴昊[1] 马兰[1] 

机构地区：[1]中国民航大学空中交通管理学院,天津300300

出　　处：《飞行力学》2015年第2期170-172,177,共4页Flight Dynamics

基　　金：国家自然科学基金资助(71171190;61179042;U1333116);中央高校基本科研经费资助(ZXH2012M003);中国民航大学科研启动基金资助(2012QD02X);大学生创新创业训练计划资助(201410059082)

摘　　要：针对小型无人直升机航迹受到风场扰动和导航系统定位误差影响下的航迹最优规划问题,建立了风扰动和导航误差影响下的飞行航迹线性模型。基于混合整数规划思想,采用粒子滤波改进广义模型预测控制算法实时规划航迹,降低了导航定位误差造成的航迹估计偏差,提高了航迹估计精度。仿真结果表明,该算法能够生成三维可行航迹并躲避障碍物,且规划时间和无人机能耗较传统方法显著减少。A linear model and flight path optimal planning of small unmanned helicopter effected by wind turbulence and errors on navigation system was established. Based on mix integer linear programming of generalized predictive control（ GPC） which was improved by particle filter,the method decreased flight path error caused by navigation system,and the flight path estimation precision was increased. Simulation results show that the method is able to generate a three-dimensional feasible flight track and avoid obstacles,and the planning time and energy consumption is significantly less than that with traditional methods.

关 键 词：无人机 航迹规划 粒子滤波 广义预测控制 混合整数规划 

分 类 号：V279[航空宇航科学与技术—飞行器设计]