固定翼无人飞行器在线避障安全轨迹规划方法  

Online collision-free and safe trajectory planning for fixed-wing UA Vs

作　　者：鲁瀚辰 郝明瑞 申庆茂 王若凝 Lu Hanchen;Hao Mingrui;Shen Qingmao;Wang Ruoning(National Key Laboratory of Complex System Control and Intelligent Agent Cooperation,Beijing 100074,China;Beijing Electro-mechanical Engineering Institute,Beijing 100074,China;The Second Military Representative Office of the Air Force Equipment Department in Beijing,Beijing 100074,China)

机构地区：[1]复杂系统控制与智能协同全国重点实验室,北京100074 [2]北京机电工程研究所,北京100074 [3]空装驻北京地区第二军事代表室,北京100074

出　　处：《战术导弹技术》2024年第6期87-93,共7页Tactical Missile Technology

基　　金：国防基础科研项目(JCKY2021204B051);国家自然科学基金青年项目(62203415)。

摘　　要：固定翼无人飞行器以其速度快、成本低廉且载荷能力强的优点被广泛应用于实际,复杂环境下固定翼无人飞行器安全飞行轨迹的快速求解是一项具有挑战性的工作。针对固定翼无人飞行器在多障碍环境中的飞行轨迹规划问题,基于传统启发式A*搜索算法框架并考虑固定翼无人飞行器的动力学特性提出了一种航路搜索算法,再基于该航路的引导设计了基于梯度下降的局部轨迹规划算法,该方法实现了固定翼无人飞行器安全飞行轨迹的快速生成。通过数学仿真验证实验表明,所提方法在复杂的未知环境中具有有效性和可行性。通过结合全局航路搜索和局部轨迹规划,固定翼无人飞行器能够实现安全避障飞行,为固定翼无人飞行器在复杂环境中的应用提供了有益的参考。Fixed-wing Unmanned Aerial Vehicles(UAVs)are widely used in practice due to the fast speed,low cost and strong load capacity.The online motion planning of fixed-wing UAVs in complex environments is a challenging task.Aiming at the flight trajectory planning of fixed-wing UAVs in multi-obstacle environments,a path search algorithm is proposed based on the A*search algorithm framework with the dynamic characteristics of fixed-wing UAVs.Then,a local trajectory planning algorithm based on gradient descent is designed based on the guidance of the path,which can realize the rapid generation of safe flight trajectories for fixed-wing UAVs.Verification experiments in mathematical simulation environments show that the proposed method is effective and feasible in complex unknown environments.By combining global path search and local trajectory planning,fixed-wing UAVs can achieve safe obstacle avoidance flight,which provides a useful reference for the application of fixed-wing unmanned aerial vehicles in complex environments.

关 键 词：固定翼无人飞行器 多障碍环境 在线规划 动力学可行性 无碰撞 动态优化 非线性优化 

分 类 号：V279[航空宇航科学与技术—飞行器设计]