Earticle

초록

영어

For the complex combat environment, considering the flyable performance constrains and the safety constrains, an online trajectory planning algorithm of UAVs(Unmanned Aerial Vehicles) based on Pythagorean Hodograph (PH) curve is put forward, which is easy to traced. When the unexpected obstacles are detected, based on the velocity obstacles avoidance method, the collision avoidance trajectory is planned online. The position of the interrupt point and the direction of the UAV turn are calculated. To fully use the PH trajectories performance that the curvature of the curve is continuous and precisely known, the location and crossing heading error equations were established within the Serret-Frenet coordinates. The corresponding asymptotically stable convergence backstepping trajectory tracking control law was designed based on the error formulations. The autonomous collision avoidance trajectory simulation result and its tracking control result show that the proposed trajectory generation method and the corresponding adaptive tracking control method are effective and can improve the tracking accuracy.

목차

Abstract
 1. Introduction
 2. PH Trajectory Generation
  2.1. Problem Presentation
  2.2. Collision Avoidance Trajectories Generation Using PH Curve
  2.3. Obstacle Avoidance Trajectory Generation Based on Velocity Obstacles Avoidance Method
 3. Establishment of Path Tracking Control Model
 4. Tracking Control Based on Backstepping
 5. Simulation Results
 6. Conclusion
 Acknowledgement
 References

키워드

저자

• Zhang Yi [ Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, China ]
• Yang Xiuxia [ Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, China ]
• Zhao Hewei [ Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, China ]
• Zhou Weiwei [ Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605