一种基于任务空间的T-VTOL多模态轨迹生成算法  

A multimodal trajectory generation algorithm for T-VTOL UAV based on task space

作　　者：张邦楚 胡森 伍勋 朱威禹 Zhang Bangchu;Hu Sen;Wu Xun;Zhu Weiyu(School of Aeronautics and Astronautics,Sun Yat-Sen University,Shenzhen 518107,China)

机构地区：[1]中山大学航空航天学院,深圳518107

出　　处：《战术导弹技术》2024年第1期85-94,104,共11页Tactical Missile Technology

基　　金：国家自然科学基金(52202513);广东省基础与应用基础研究基金(2021A1515110797)。

摘　　要：针对尾座式垂直起降无人机(T-VTOL)多模态轨迹规划复杂的问题,提出了一种面向任务空间的多模态轨迹生成算法。证明了T-VTOL全模态的微分平坦特性,位置的高阶导数是系统平坦的输出,表明T-VTOL可以在任务空间内设置符合期望轨迹的任意定点。基于庞特里亚金极小值原理提出了T-VTOL在三维空间的多模态轨迹生成算法与封闭解,并给出其可行性验证方法。结果表明,在两种过渡模态以及盘旋模态,T-VTOL飞行轨迹严格遵循任务空间约束。此外,所提算法具有计算时间短,算力要求低,易于部署的优点。Aiming at the complex problem of multi-modal trajectory planning of Tail-sitter Vertical Takeoff Landing(T-VTOL)UAV,a mission space-oriented multi-modal trajectory generation algorithm is proposed.The differential flatness of the full mode of T-VTOL is proved,and the higher-order derivatives of the positions are the flat outputs of the system,showing that T-VTOL can set arbitrary fixed points in the task space that conform to the desired trajectory.Based on Pontriagin's minimum principle,a multi-modal trajectory generation algorithm and closed-form solution of T-VTOL in 3D space are proposed,and the feasibility verification method is given.The results show that the T-VTOL flight trajectory strictly follows the mission space constraints in two transition modes and the hover mode.Compared with the traditional algorithm,the proposed algorithm has advantages of short computation time, low computational power requirement andbeing easy to deploy.

关 键 词：无人机轨迹优化 尾座式垂直起降无人机 庞特里亚金极小值原理 微分平坦特性 无人机多模态切换 T-VTOL任务空间 最优过渡过程 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]