论文部分内容阅读
针对小型四旋翼无人机自主巡航的轨迹规划问题,提出一种基于Sigmoid函数的轨迹规划算法。在给出了一组由无人机必须飞经的路径点所定义的巡航任务的前提下,该算法采用圆滑可导的Sigmoid函数作为位置函数,规划出任意2个路径点之间的状态轨迹。该方法同时保证了光滑可导的速度轨迹函数。基于飞行器的最大速度约束,在相邻的2个路径点的距离小于一定值时还可保证可导的加速度轨迹函数。算法极为简单,可在计算能力有限的微小型无人机驾驶仪上得以实现。在对算法和其有关的性质做出介绍之后,文章还给出了采用典型的小型四旋翼无人机动态模型和控制算法对该算法制定的飞行轨迹进行跟踪飞行的仿真结果,证实了该算法的可行性、有效性和实时性。
In order to solve the trajectory planning problem of a small quadrotor UAV autonomously cruising, a trajectory planning algorithm based on Sigmoid function is proposed. Given a set of cruise missions as defined by the path points that the UAV must fly through, the algorithm uses a smooth guideable Sigmoid function as a location function to plan the state trajectory between any two path points . This method guarantees both smooth and guideable velocity trajectory functions. Based on the maximum speed constraint of the aircraft, a guideable acceleration trajectory function can also be guaranteed when the distance between two adjacent path points is less than a certain value. The algorithm is extremely simple and can be implemented on a tiny UAV with limited computational power. After introducing the algorithm and its related properties, the paper also gives the simulation results of the tracking flight made by this algorithm using a typical small quadrotor UAV dynamic model and control algorithm. It is proved that the algorithm Feasibility, effectiveness and real-time.