无动力无人机进场阶段三维Dubins路径跟踪方法

系统工程与电子技术

无动力无人机进场阶段三维Dubins路径跟踪方法

黄得刚1,2, 章卫国1, 杨立本1

(1. 西北工业大学自动化学院, 陕西西安 710129; 2. 哈尔滨建成集团有限公司, 黑龙江哈尔滨 150030)

出版日期:2016-02-24 发布日期:2010-01-03

Method of 3 dimensions Dubins path generated and tracked for the#br# unpowered UAV at the approach stage

HUANG Degang1,2, ZHANG Weiguo1, YANG Liben1

(1. School of Automation, Northwestern Polytechnical University, Xi’an 710129, China;
2. Harbin Jian Cheng Group Company Limited, Harbin 150030, China)

Online:2016-02-24 Published:2010-01-03

摘要/Abstract

摘要：

针对无人机进场阶段失去推力后,如何使其跟踪一条给定进场路径这一特殊情况,提出了一种3维Dubins路径跟踪方法,该方法首先利用Dubins曲线解决无人机故障位置任意性及其路径求解实时性高的路径规划问题;然后为了跟踪所生成的3维Dubins路径,设计了一种基于切换平面的自适应非线性制导方法,其中切换平面用来解决圆弧制导与直线制导之间的过渡问题,而自适应规则降低横纵向制导律之间的相互影响,从而提高了系统的跟踪精度。最后通过仿真实验验证了该方法的有效性。

Abstract:

For the approach stage when the unmanned aerial vehicle (UAV) loses of power, it is a special case that how to track a given approach path. A method of 3 dimensions Dubins path generated and tracked is proposed. Firstly, using Dubins curve solves the path planning problem which involves that the fault position of UAV is arbitrary and the realtime of the path solution is well. Secondly, for tracking the 3 dimension Dubins path, a method of adaptive nonlinear guidance based on the switching plane is designed. The switching plane deals with the transition issues between the arc and line guidance, while the adaptive law reduces the interacting between longitudinal and lateral guidance, which improves the tracking accuracy. Finally, the effectiveness of this method is proved by the simulation.

黄得刚1,2, 章卫国1, 杨立本1. 无动力无人机进场阶段三维Dubins路径跟踪方法[J]. 系统工程与电子技术.

HUANG Degang1,2, ZHANG Weiguo1, YANG Liben1. Method of 3 dimensions Dubins path generated and tracked for the#br# unpowered UAV at the approach stage[J]. Systems Engineering and Electronics.