基于hp自适应伪谱法的四旋翼无人机编队轨迹优化  

Trajectory optimization of quad-rotor UAV formation using hp-adaptive pseudospectral method

作　　者：张博渊[1] 宗群[1] 鲁瀚辰 邵士凯[1] 

机构地区：[1]天津大学电气与自动化学院,天津300072

出　　处：《中国科学：技术科学》2017年第3期239-248,共10页Scientia Sinica(Technologica)

基　　金：天津大学自主创新基金(多智能体编队协调控制与目标跟踪关键技术研究)资助项目

摘　　要：四旋翼无人机编队轨迹优化是实现高精度跟踪控制的基础.研究四旋翼无人机编队轨迹优化问题,首先建立非线性四旋翼无人机模型,并对模型进行简化与参数获取;再考虑四旋翼无人机编队之间的避撞约束、状态量约束及控制输入量约束;最后采用可自适应选点的hp自适应伪谱法将最优控制问题转化为非线性规划问题进行求解.仿真结果表明,hp自适应伪谱法对于求解6架四旋翼无人机编队的轨迹优化问题具有良好的效果,能够满足工程实际的约束要求.The quad-rotor UAV formation trajectory optimization is the basis of high precision tracking control. Researching the problem of quad-rotor UAV formation trajectory optimization, firstly the nonlinear quad-rotor UAV model is built and simplified, meanwhile the model parameters are obtained; then the collision avoidance, the state variables constraints and the control varibles constraints are considered; finally the hp-adaptive pseudospectral method that select the discrete points adaptively is used to convert the optimal control problem to be a nonlinear programming problem. The smulation results shows, taking six quad-rotor UAV for research objects, the optimal trajectory has a good effect whiling satisfying the engineering requirements.

关 键 词：轨迹优化 四旋翼无人机编队 hp自适应伪谱法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]