Leader trajectory planning method considering constraints of formation controller  

作　　者：YAO Dongdong WANG Xiaofang LIN Hai WANG Zhuping 

机构地区：[1]School of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,China [2]Xi’an Institute of Electromechanical Information Technology,Xi’an,710065,China

出　　处：《Journal of Systems Engineering and Electronics》2023年第5期1294-1308,共15页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(11502019).

摘　　要：To ensure safe flight of multiple fixed-wing unmanned aerial vehicles(UAVs)formation,considering trajectory planning and formation control together,a leader trajectory planning method based on the sparse A*algorithm is introduced.Firstly,a formation controller based on prescribed performance theory is designed to control the transient and steady formation configuration,as well as the formation forming time,which not only can form the designated formation configuration but also can guarantee collision avoidance and terrain avoidance theoretically.Next,considering the constraints caused by formation controller on trajectory planning such as the safe distance,turn angle and step length,as well as the constraint of formation shape,a leader trajectory planning method based on sparse A^(*)algorithm is proposed.Simulation results show that the UAV formation can arrive at the destination safely with a short trajectory no matter keeping the formation or encountering formation transformation.

关 键 词：trajectory planning formation control prescribed performance controller multiple constraints formation shape formation transformation 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置] V249[自动化与计算机技术—控制科学与工程]