辽宁石油化工大学学报

辽宁石油化工大学学报 ›› 2024, Vol. 44 ›› Issue (1): 71-79.DOI: 10.12422/j.issn.1672-6952.2024.01.011

• 信息与控制工程 • 上一篇    下一篇

基于避障路径规划的无人直升机空地跟踪控制

杨静雯(), 李涛(), 杨欣, 冀明飞   

  1. 南京航空航天大学 自动化学院,江苏 南京 211106
  • 收稿日期:2023-03-31 修回日期:2023-10-25 出版日期:2024-02-25 发布日期:2024-02-07
  • 通讯作者: 李涛
  • 作者简介:杨静雯(1998⁃),女,硕士研究生,从事无人直升机跟踪控制方面的研究;E⁃mail:986594811@qq.com
  • 基金资助:
    国家自然科学基金资助项目(62073164);国防科技重点实验室基金项目(61422200306)

Collaborative Air⁃Ground Tracking Control of Unmanned Helicopter Based on Obstacle Avoidance Path Planning

Jingwen YANG(), Tao LI(), Xin YANG, Mingfei JI   

  1. College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 211106,China
  • Received:2023-03-31 Revised:2023-10-25 Published:2024-02-25 Online:2024-02-07
  • Contact: Tao LI

摘要:

针对无人直升机(Unmanned Aerial Helicopter,UAH)在空地协同跟踪过程中的避障和控制问题,提出了新型路径避障规划和跟踪控制设计方法。针对不确定性的线性UAH模型,通过对UAH警示范围内二维环境信息进行处理判断,借助摸墙算法(Wall?Following Algorithm) 提出合适的避障策略,计算避障路径的行进角度以及能够弥补绕行距离的跟踪速度;将所得避障方法拓展至三维环境中,根据水平和垂直方向上的障碍物信息确定UAH飞行角度,从而减小由避障环节所带来的绕行距离;在上述避障算法的基础上,引入人工神经网络(Approximate Nearest Neighbor,ANN)估计模型不确定项,进而结合前馈补偿与最优控制等技术建立了跟踪控制设计方案。仿真结果表明,所提避障策略和控制算法有效。

关键词: 无人直升机, 空地跟踪, 避障路径规划, 人工神经网络

Abstract:

The paper aims to study the problem of obstacle avoidance in air?ground cooperative tracking control for the unmanned aerial helicopter (UAH),in which a new approach of designing the path obstacle avoidance plan and controller design is proposed.Initially, as for the uncertain linear UAH,by processing and judging two?dimensional environmental information within the warning range for the UAH,an obstacle avoidance strategy is proposed with the help of wall?following algorithm,and the flight angle of obstacle avoidance path and the tracking speed that can make up for bypass distance are calculated.Secondly,the proposed obstacle avoidance method is extended to the three?dimensional case,and the flight angle of the UAH is determined based on the obstacle information in the horizontal and vertical directions,which can reduce the bypass distance caused by the obstacle avoidance link as possible.Thirdly,based on two derived obstacle avoidance algorithms above,the artificial neural network (ANN) is introduced to estimate model uncertainty,and then the tracking control design schemes are established by using feedforward compensation and optimal control technologies.some simulations demonstrate the effectiveness of the proposed obstacle avoidance strategy and control algorithm.

Key words: Unmanned aerial helicopter, Clearing tracking, Obstacle avoidance path planning, Artificial neural networ

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引用本文

杨静雯, 李涛, 杨欣, 冀明飞. 基于避障路径规划的无人直升机空地跟踪控制[J]. 辽宁石油化工大学学报, 2024, 44(1): 71-79.

Jingwen YANG, Tao LI, Xin YANG, Mingfei JI. Collaborative Air⁃Ground Tracking Control of Unmanned Helicopter Based on Obstacle Avoidance Path Planning[J]. Journal of Liaoning Petrochemical University, 2024, 44(1): 71-79.

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