Real-Time Optimized Trajectory Planning for a Fixed-Wing Vehicle Flying in a Dynamic Environment

Jian Yang; Zhihua Qu; Jing Wang; Richard A. Hull

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Real-Time Optimized Trajectory Planning for a Fixed-Wing Vehicle Flying in a Dynamic Environment

机译：动态环境中固定翼飞行器的实时优化轨迹规划

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The problem of determining an optimal feasible trajectory, for a fixed wing flying vehicle moving in a dynamical three-dimensional space, is addressed in this paper, and an analytical solution is proposed. With explicitly considering the boundary conditions and kinematic constraints as well as by satisfying the collision avoidance criterions, trajectories are described in terms of three parameterized polynomials, and the family of feasible trajectories are found. Then, the desired near shortest trajectory is chosen from the feasible trajectories by optimizing a performance index with respect to L_2 norm. This trajectory and its associated steering controls are achieved analytically. Computer simulations validate that this approach is computationally efficient and real-time implementable.

机译：本文针对在动态三维空间中运动的固定翼飞行器确定最佳可行轨迹的问题进行了研究，提出了解析解。通过明确考虑边界条件和运动学约束以及满足防撞标准，使用三个参数化多项式描述了轨迹，并找到了可行的轨迹族。然后，通过针对L_2范数优化性能指标，从可行轨迹中选择所需的最短轨迹。该轨迹及其相关的转向控制可以通过分析实现。计算机仿真验证了这种方法的计算效率和实时性。

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来源
《Journal of aerospace engineering》 |2009年第4期|331-341|共11页
作者
Jian Yang; Zhihua Qu; Jing Wang; Richard A. Hull;
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作者单位

School of Electrical and Computer Sciences, Univ. of Central Florida, Orlando, 91324, FL Presently, Delta Tau Data Systems, Inc.;

School of Electrical and Computer Sciences, Univ. of Central Florida, Orlando, FL 32816;

School of Electrical and Computer Sciences, Univ. of Central Florida, Orlando Computer Engineering and Computer Science, School of Science, Engi- neering, and Mathematics, Bethune-Cookman Univ., 640 Dr. M.M.B. Blvd., Daytona Beach, FL 32114;

Advanced Concepts Business Unit of Science Applications International Corporation (SAIC), 3045 Technology Pkwy, Orlando, FL 32826;

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正文语种 eng
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关键词
optimization; aircraft; motion; collision; control;

机译：优化;飞机;运动;碰撞;控制;

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Real-Time Optimized Trajectory Planning for a Fixed-Wing Vehicle Flying in a Dynamic Environment

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