| 陈伟轩* **,何德峰*,廖飞**,张啸天* **,李书恒* **.基于收缩移动块的固定翼与飞行平台交会轨迹滚动时域规划[J].高技术通讯(中文),2024,34(5):525~534 |
| 基于收缩移动块的固定翼与飞行平台交会轨迹滚动时域规划 |
| Shrinking moving blocks based receding horizon planning for rendezvous trajectories between fixed wing and flight platform |
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| DOI：10. 3772 / j. issn. 1002-0470. 2024. 05. 009 |
| 中文关键词: 固定翼无人机； 飞行平台； 模型预测控制(MPC)； 移动收缩块； 轨迹规划 |
| 英文关键词: fixed-wing, flight platform, model predictive control (MPC), shrinking moving block, trajectory planning |
| 基金项目: |
| 作者 | 单位 | | 陈伟轩* ** | (*浙江工业大学信息工程学院杭州 310023)
(**中国空气动力研究所与发展中心空天技术研究所绵阳 621000) | | 何德峰* | | | 廖飞** | | | 张啸天* ** | | | 李书恒* ** | |
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| 中文摘要: |
| 针对一类固定翼与飞行平台组合系统的交会轨迹规划问题，提出一种基于收缩移动块的滚动时域规划算法。首先，建立固定翼无人机与飞行平台的交会动态模型，再将交会轨迹规划问题转化为一类以累加型能耗性能指标、固定终端时域、终端状态的收缩时域滚动优化问题。其次，引入收缩移动块策略压缩轨迹规划问题的决策变量数，从而保证算法的实时性。在此基础上，建立算法的递推可行性和可转移性结果。最后，仿真比较结果验证了本文算法在交会过程节能、准时和实时计算等方面的优势。 |
| 英文摘要: |
| This paper considers the rendezvous trajectory problem of a class of combined systems with fixed-wing and flight platform and proposes a shrinking moving blocks based receding horizon planning algorithm. Firstly the rendezvous dynamic model of a fixed-wing aerobat and a flight platform is established. Then the rendezvous trajectory planning problem is transformed into a kind of shrinking moving horizon optimization problems with the cumulative energy consumption cost, fixed terminal time and terminal states. Secondly, the shrinking moving block strategy is introduced to reduce the number of decision variables in the optimization problem, which ensures the real-time performance of the algorithm. Moreover, the recursive feasibility and transferability property of the algorithm are derived. Finally, the simulation comparison results illustrate the merits of the proposed algorithm in terms of energy saving, punctuality and real-time calculation in the rendezvous process. |
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