基于能耗优化的四旋翼无人机航迹规划:分段式高斯伪谱法  

Energy-Efficient Trajectory Planning for Quadrotor UAVs:A Segmented Gaussian Pseudospectral Method

作　　者：欧阳权 徐罗旻 杨继阳 薛雅丽[1] 丛玉华[1] 吕建威 OUYANG Quan;XU Luomin;YANG Jiyang;XUE Yali;CONG Yuhua;LYU Jianwei(College of Automatic Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210000,China;Beijing Institute of Control and Electronic Technology,Beijing 100000,China)

机构地区：[1]南京航空航天大学自动化学院,南京210000 [2]北京控制与电子技术研究所,北京100000

出　　处：《电光与控制》2025年第1期1-7,共7页Electronics Optics & Control

基　　金：国家自然科学基金(61473144);上海航天科技创新基金(SAST2022-013)。

摘　　要：在四旋翼无人机航迹规划中引入能耗优化策略以延长其飞行时间,能够显著提升其实用性和经济性。为此,提出了一种基于分段式高斯伪谱法的能耗最优航迹规划算法。首先,构建了四旋翼无人机运动学-能耗综合模型,能定量描述无人机运动学及能耗间耦合关系;其次,基于此模型,将考虑能耗优化的航迹规划问题转化为带约束的连续时间优化问题;最后,设计了分段式高斯伪谱法求解出优化航迹,其中通过滑动选取优化子区间的方法,在航点数量较多的复杂飞行任务中有效缩短了计算时间,同时提升了轨迹的平滑性和航点跟踪准确性。仿真和实验结果表明,与传统定航点飞行相比,所提算法能大幅降低飞行能耗,与常用优化算法相比,所提算法在保证能耗优化效果的同时,所需计算时间更短,航点跟踪精度更高。Introducing an energy consumption optimization strategy in quadrotor UAV trajectory planning to extend its flight longevity can significantly improve its practicality and economy.To this end,this paper proposes an energy-optimized trajectory planning method based on the Segmented Gaussian Pseudospectral Method(SGPM).Firstly,a comprehensive kinematics-energy consumption model of a quadrotor UAV is constructed,which can quantitatively describe the coupling relationship between UAV kinematics and energy consumption.Secondly,based on this model,the trajectory planning problem considering energy consumption optimization is transformed into a continuous time optimization problem with constraints.Finally,SGPM is designed to obtain the optimized trajectory,in which the sliding selection of optimization sub-intervals effectively reduces the computation time in complicated flight missions with a large number of waypoints,and at the same time improves the smoothness of the trajectory and the accuracy of waypoint tracking.The simulation and experimental results show that:1)Compared with the conventional fixed-waypoint flight,the proposed method can significantly reduce the flight energy consumption;and 2)Compared with the commonly-used optimization algorithms,the proposed algorithm ensures the optimization effect of energy consumption with shorter computation time and higher waypoint tracking accuracy.

关 键 词：四旋翼无人机 能耗优化 航迹规划 分段式高斯伪谱法 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]