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Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters

机译：无人直升机的综合飞行路径计划系统和飞行控制系统

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摘要

This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).
机译：本文的重点是无人直升机的集成导航和制导系统的设计。集成导航系统包括两个系统：飞行路径计划系统（FPPS）和飞行控制系统（FCS）。 FPPS通过A-Star（A *）算法以自适应方式找到最短的飞行路径，以适应不同的飞行条件，并且FPPS可以添加一个禁区，以阻止无人直升机飞越危险区域。本文通过多分辨率方案减少了FPPS的计算时间，并通过路径平滑方法提高了飞行路径的质量。同时，FCS包括基于模糊逻辑的模糊推理系统（FIS）。通过使用专业知识和经验来训练FIS，控制器可以在没有动态模型的情况下操作无人直升机。 FPPS和FCS的集成系统旨在为任务目的地提供导航和制导，并通过结合飞行模拟软件X-Plane和计算软件MATLAB来实现。执行仿真并以实时三维动画显示。最后，该集成系统被证明可以成功地控制无人直升机在数字高程模型（DEM）的各种地形中运行。

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