复杂环境下无人机盘旋跟踪地面目标三维航迹规划  

3D Trajectory Planning for UAV Circumnavigation and Ground Target Tracking in Complex Environment

作　　者：梁承宇 张民[1] 张莹[1] Liang Chengyu;Zhang Min;Zhang Ying(Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学,江苏南京211106

出　　处：《航空科学技术》2024年第9期19-28,共10页Aeronautical Science & Technology

基　　金：航空科学基金(20181352010);上海航天科技创新基金(SAST2021-053)。

摘　　要：无人机(UAV)如何在复杂环境中安全跟踪地面目标是当前研究的热点。本文针对三维多障碍环境中无人机盘旋跟踪地面目标并安全避障问题,设计了一种无碰撞盘旋跟踪三维航迹规划策略。首先,对地面移动目标设计了一个定距盘旋跟踪三维制导律,建立无人机动力学模型,阐述定距离跟踪制导律的设计方法;其次,设计了李雅普诺夫(Lyapunov)函数对该制导律稳定性进行了严格的数学证明;最后,为了实现基于无人机盘旋跟踪目标过程中的三维避障问题,提高无人机的自主能力,提出一种改进型三维人工势场法,对传统二维人工势场法进行适应性改进,并将斥力分解为水平与竖直方向的分力,采取加权求和方式将其与所设计的制导律相结合。本文提出的策略均考虑了无人机的动力学约束。仿真结果显示,该策略能够实现无人机对地面移动目标进行盘旋跟踪的同时,还能安全躲避至少6个障碍物,具备可行性和有效性。该方法可应用于无人机避障跟踪领域,对提升无人机自主航迹规划能力具有重大意义。The circumnavigation tracking of ground targets by unmanned aerial vehicles(UAV) is one of the important contents in the application field of UAVs.And how to improve the accuracy of obstacle avoidance while tracking the targets under the complex obstacle environment is a hot topic of current research.In this paper,firstly,a fixeddistance three-dimensional circumnavigation tracking guidance law is designed for ground moving targets,and a UAV dynamics model is established to illustrate the design method of the fixed-distance tracking guidance law;secondly,a strict mathematical proof of the stability of the guidance law is designed by the Lyapunov function;finally,in order to achieve 3D obstacle avoidance in the process of target-tracking based on the circumnavigation of UAVs and to improve the autonomy of UAVs,an improved 3D artificial potential field method is proposed,which is a new method to achieve 3D obstacle avoidance and to improve the accuracy of UAVs.An improved artificial potential field method is proposed to adaptively improve the artificial potential field method and decompose the repulsive force into horizontal and vertical component forces,and adopt a weighted summation method to combine them with the designed guidance law to design a 3D trajectory planning algorithm for collision-free circumnavigation tracking.The proposed strategies all consider the dynamics constraints of the UAVs.Simulation results show that the strategy can achieve the feasibility and effectiveness of UAV circumnavigation tracking to ground moving targets while safely avoiding at least six obstacles.The method can be applied to the field of UAV obstacle avoidance tracking,which is of great significance to improve the autonomous trajectory planning capability of UAVs.

关 键 词：无人机 盘旋跟踪 制导律 改进型三维人工势场法 三维避障 

分 类 号：V279[航空宇航科学与技术—飞行器设计]