北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (2): 231-239.doi: 10.13700/j.bh.1001-5965.2020.0272

• 论文 • 上一篇    下一篇

时空约束条件下多旋翼机动轨迹优化方法

蔡志浩, 左一鸣, 王英勋   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083
  • 收稿日期:2020-06-16 发布日期:2021-03-08
  • 通讯作者: 蔡志浩 E-mail:caizhihao@outlook.com
  • 作者简介:蔡志浩,男,博士,高级工程师,硕士生导师。主要研究方向:创新布局飞行器系统综合设计、短距/垂直起降无人机建模与控制、无人机自主与协同控制;左一鸣,男,硕士研究生。主要研究方向:飞行器的航迹规划;王英勋,男,硕士,研究员,博士生导师。主要研究方向:无人机自主控制。

Maneuver trajectory optimization method of multicopter under space-time constraints

CAI Zhihao, ZUO Yiming, WANG Yingxun   

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China
  • Received:2020-06-16 Published:2021-03-08

摘要: 多旋翼飞行器常应用于震后搜救、地质勘探等复杂多变的场景中,考虑到其续航能力及环境特点,优化多旋翼的飞行轨迹以更好更快地完成任务已成为关键问题之一。为此,设定多旋翼穿越室内斜缝的任务场景,提出了一种基于抛物原理和庞特里亚金极小值原理的多约束条件下轨迹优化方法。模仿将东西抛过窄窗的过程,从分析斜缝角度出发,设计一条抛物线轨迹,引导飞行器借助惯性越过斜缝,对于抛掷飞机所需的初始状态,利用庞特里亚金极小值原理设计状态转换轨迹实现。在MATLAB中搭建3D模型验证穿越效果,试验显示,多旋翼最大能穿越竖直方向63°倾斜或水平方向32°倾斜的斜缝。

关键词: 多旋翼, 多约束, 轨迹优化, 抛物原理, 状态转换

Abstract: Multicopter are often used in complex and variable scenarios such as post-earthquake search and rescue, geological exploration, etc. Considering their endurance and environmental characteristics, optimizing the flight trajectory of multicopter to complete tasks better and faster has become a key issue. To this end, a multicopter's traversing indoor diagonal slit mission is set up, and a trajectory optimization method under multi-constraint based on the parabolic principle and the Pontryagin's minimum principle is proposed. By imitating the process of throwing things through a narrow window and from the perspective of analyzing the oblique slit of the task object, a parabolic trajectory is designed to guide the aircraft to cross the oblique slit with inertia. For the initial state required to throw the aircraft, Pontryagin's minimum principle is usedto realize the state transition trajectory. A 3D model was built in MATLAB to verify the crossing effect. The experiment shows that the multicopter can pass through the inclined seam with a vertical tilt of 63° or a horizontal tilt of 32°.

Key words: multicopter, multi-constraint, trajectory optimization, parabolic principle, state transition

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