领航主机约束化的多四旋翼无人机编队航迹优化方法  

Path Optimization Method for Multi-Quadrotor UAV Formation Constrained by Leader Quadrotor UAV

作　　者：张利民 李茜 柴旭朝 路向阳[1] 刘若阳 Zhang Limin;Li Xi;Chai Xuchao;Lu Xiangyang;Liu Ruoyang(School of Electronic and Information,Zhongyuan University of Technology,Zhengzhou 451191,China;School of Mechanical Engineering,Tiangong University,Tianjin 300387,China)

机构地区：[1]中原工学院电子信息学院,郑州451191 [2]天津工业大学机械工程学院,天津300387

出　　处：《航天控制》2023年第1期60-66,共7页Aerospace Control

基　　金：河南省重点研发与推广专项(科技攻关)项目(222102210275);中原工学院优势学科实力提升计划(SD202210)。

摘　　要：针对多四旋翼无人机编队队形保持不变情况下的航迹优化问题,在飞行过程中以图论方法为基础将四旋翼无人机编队看作一个虚拟刚体,将编队中的跟随无人机看作领航四旋翼无人机的约束来处理,优化过程中仅考虑领航四旋翼无人机的最大转弯半径约束、队形变换时间约束及转换而来的约束,并将编队飞行所需能量最小作为优化目标,求解多四旋翼无人机编队定时到达目标的航迹优化问题,然后基于Gauss伪谱法对领航四旋翼无人机进行航迹优化,将其转化成一个非线性规划问题。仿真结果表明,利用本文提出的算法可以获得一条平滑飞行航迹,满足定时到达目的地约束、多无人机性能约束和环境约束要求;所获得的航迹能安全绕过障碍物,提高了无人机编队的生存能力,有一定的工程应用价值。Aiming at the path optimization problem when the formation of multi-quadrotor UAV remains unchanged, the multi-quadrotor UAV formation is regarded as a virtual rigid body based on the graph theory method in the flight process, and the UAVs in the formation are treated as the constraints of the leader quadrotor UAV. In the optimization process, only the maximum turning radius constraints, formation transformation time constraints and transformed constraints of the leader quadrotor UAV are considered, and the minimum energy required for formation flight is taken as the optimization goal, the track optimization problem of multi quadrotor UAV formation arriving at the target at fixed time is resolved. In this paper, the flight path optimization of the leader quadrotor UAV is implemented based on Gauss pseudo spectrum method, which is transformed into a nonlinear programming problem. The simulation results show that a smooth flight path can be obtained by using the algorithm proposed in this paper, which meets the constraints of timing arrival at the destination, multi UAV performance and environment;the obstacles can be safely bypassed by using obtained track which can improve the survivability of UAV formation and has certain engineering application value.

关 键 词：多四旋翼 航迹优化 GAUSS伪谱法 定向约束 

分 类 号：V324[航空宇航科学与技术—人机与环境工程]