UAV obstacle avoidance path-following method under time-varying wind disturbance at low altitudes
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摘要:
针对低空无人机避障路径跟随问题，设计了一种未知时变风扰下的无人机路径跟随方法。给出二维平面内的无人机运动学模型，完成避障路径跟随的数学建模；在未知时变风扰条件下采用矢量场方法设计了贝塞尔曲线期望路径的跟踪控制律，针对未知时变风扰下无人机地速无法测量的难点设计了地速估计器，分析了路径跟随的李雅普诺夫稳定性；在未知时变风扰条件下对贝塞尔曲线期望路径的跟踪进行了仿真验证。仿真实验证明：所设计的无人机路径跟随方法能够实现未知时变风扰条件下的路径稳定跟踪问题。
Abstract:An unmanned aerial vehicle path-following method under unknown time-varying wind disturbance was designed to solve the problem of unmanned aerial vehicle obstacle avoidance path-following at low altitudes. Firstly, a kinematic model of the unmanned aerial vehicle in the two-dimensional plane was given to complete the mathematical modeling of the obstacle avoidance path-following; secondly, a vector field method was used to design the tracking control law for the desired path of the Bessel curve under the unknown time-varying wind disturbance condition, and a ground speed estimator was designed for measuring the ground speed of the unmanned aerial vehicle under the unknown time-varying wind disturbance, and the Liapunov stability of the path-following was analyzed. Finally, a simulation was carried out to verify the Bessel curve’s expected path-following under unknown time-varying wind disturbance. The simulation experiments demonstrate that the designed unmanned aerial vehicle path-following method can achieve stable path-following under the unknown time-varying wind disturbance.
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图 1 无人机${V_{\text{a}}}$、${V_{\text{g}}}$和W之间的关联
Figure 1. Relation among ${V_{\text{a}}}$, ${V_{\text{g}}}$ and $W$
图 3 不同k值下的贝塞尔曲线路径矢量场对比
Figure 3. Comparison of Bessel curve path vector fields for different values of k
图 4 不同运动方向的贝塞尔曲线路径矢量场
Figure 4. Comparison of Bessel curve path vector fields for different directions of motion
图 5 定常风扰下的路径跟随控制方案
Figure 5. Path-following control scheme under constant wind disturbance
图 6 时变风扰下的路径跟随控制方案
Figure 6. Path-following control scheme under time-varying wind disturbance
图 7 时变未知风扰环境下的路径跟随结果
Figure 7. Path-following result under unknown time-varying wind disturbance
表 1 不同初值偏差条件下的地速估计误差
Table 1. Estimation error of ground speed under different deviations from initial values
初值偏差/(m·s−1) 平均误差/(m·s−1) 均方误差/(m·s−1) 0 3.0 2.7 2 4.5 4.3 3 6.9 7.1 4 7.5 7.6 
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