hp自适应RPM在四旋翼无人机轨迹优化中的应用  

Application of hp Adaptive RPM in Quad-Rotor UAV’s Trajectory Optimizing

作　　者：徐建龙 唐猛[1] 孟文[1] 杨勇强 XU Jian-long;TANG Meng;MENG Wen;YANG Yong-qiang(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院

出　　处：《测控技术》2019年第6期91-95,共5页Measurement & Control Technology

基　　金：中央高校基本科研业务费专项资金资助(A0920502051723-9)

摘　　要：通过分析四旋翼无人机动力学模型并获取实际参数,利用hp自适应Radau伪谱法(Radau pseudospectral method RPM)优化四旋翼无人机避障轨迹。hp自适应RPM利用Legendre-Gauss-Radau(LGR)点将连续最优控制问题转化为非线性规划问题,根据不同点处的误差进行自适应的细化区间或增加配点,以最快的速度逼近状态变量和控制变量。根据仿真结果显示,在以轨迹最短为目标的情况下,hp自适应RPM效率较高,目标轨迹更短,优化结果较为满意。Hp adaptive Radau pseudospectral method(RPM)is used to optimize the obstacle avoidance trajectory of the quad-rotor UAV by analyzing the dynamics model of the quad-rotor UAV and obtaining the actual parameters.Legendre-Gauss-Radau(LGR)point is used to convert optimal control problem into nonlinear programming problem.According to the errors of different point,the interval is refinied or the collocation is increased adaptively to approximate state variables and control variables at the fastest speed.According to the simulation results,the hp adaptive RPM is more efficient,the target trajectory is shorter and the optimization result is satisfactory with the shortest trajectory as the optimization target.

关 键 词：四旋翼无人机 伪谱法 避障 轨迹优化 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP24[自动化与计算机技术—检测技术与自动化装置]