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为提高无人直升机的控制性能,提出了一种基于Dubins曲线的轨迹规划算法,并对其各个部分的实现进行了研究和设计。该算法利用Dubins曲线原理对定点飞行任务的两点或者多点目标进行分析计算,寻找出一条最短的飞行路径,从而提高了飞行效率。根据无人直升机系统多变量、非线性和强耦合的特点,采用串级PID方法设计了飞行控制器,该控制器能够修正无人直升机的姿态和位置,从而提高了轨迹规划的稳定性和准确性。最后,以某小型无人直升机为实验平台表明了该轨迹规划算法和控制器的可行性。
To improve the control performance of unmanned helicopter, a trajectory planning algorithm based on Dubins curve is proposed, and the realization of each part is studied and designed. The algorithm uses Dubins curve principle to analyze and calculate the two-point or multi-point targets of the fixed-point mission to find the shortest flight path and improve the flight efficiency. According to the characteristics of unmanned helicopter system multivariable, nonlinear and strong coupling, the cascade PID method is used to design the flight controller, which can correct the attitude and position of the unmanned helicopter and improve the stability and accuracy of the trajectory planning Sex. Finally, a small unmanned helicopter is used as an experimental platform to demonstrate the feasibility of the trajectory planning algorithm and controller.