Abstract:

Traditional planning methods are difficult to satisfy the planning requirement of highaltitude highspeed aircraft because these methods consider planning and tracking independently. Under such circumstances, a novel motion planning method for highaltitude highspeed aircraft is proposed, after the symmetry of motion trajectories is studied and confirmed in the Liegroup framework. This proposed approach synthetically regards planning and tracking as a whole, to enable the planned trajectories physically feasible and their corresponding control sequences practically desirable. Firstly, the trajectory primitives database is constructed to entirely reflect the specified aircraft’s dynamical characteristics. Secondly, a series of navigation vectors are created automatically in the planning space based on the thread environment and mission. At the same time, the directed navigation topological graph is generated by using the motion symmetry with the aid of the trajectory primitives database. Finally, the Dijkstra algorithm is utilized to find out the optimal navigation vector sequence in the topological graph, and then the corresponding dynamical trajectory and control sequence are computed. Simulation validates that this proposed method can ensure the physical feasibility of trajectories due to comprehensive considerations on kinematics and dynamics of the specified aircraft.