基于三维PH曲线的UAV在线路径规划及跟踪控制研究  

Research on UAV Online Path Planning and Tracking Control Based on 3D PH Curve

作　　者：周硙硙 ZHOU Weiwei(The First Military Representative of Navy Equipment Department in Nanjing,Nanjing 210001)

机构地区：[1]海军装备部驻南京地区第一军事代表室,南京210001

出　　处：《舰船电子工程》2021年第9期62-65,共4页Ship Electronic Engineering

摘　　要：随着无人飞行器(Unmanned Aerial Vehicle,UAV)在三维空间中执行的任务越来越复杂,快速有效地对UAV进行路径规划并设计出相应的路径跟踪控制律,已经成为UAV飞行控制技术研究的热点问题之一。为此,提出一种基于三维Pythagorean Hodograph(PH)曲线的UAV快速有效路径规划方法,并依据UAV三维PH路径的特点设计出相应的路径跟踪控制律。通过Matlab仿真,验证了提出的UAV三维路径规划和路径跟踪控制律设计方法的有效性和可行性。With the missions of Unmanned Aerial Vehicle(UAV)in three-dimensional space are more and more complex,fast and effective method of path planning and corresponding tracking control law for UAV is becoming a hot topic of flight control for UAV.Therefore,a fast and effective path planning method based on three-dimensional Pythagorean Hodograph(PH)curve for UAV is proposed,and the corresponding tracking control law based on the characteristics of UAV three-dimensional PH path is designed.Through the Matlab simulation,the simulation results verify the effectiveness and feasibility of the three-dimensional path planning method and corresponding tracking control law for UAV.

关 键 词：无人飞行器 Pythagorean Hodograph曲线 路径规划 路径跟踪 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279