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首页> 外文期刊>Journal of guidance, control, and dynamics >Parameters for Nonlinear Model Predictive Control in Unmanned Aerial Vehicle Path-Planning Applications
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Parameters for Nonlinear Model Predictive Control in Unmanned Aerial Vehicle Path-Planning Applications

机译：无人机路径规划应用中非线性模型预测控制的参数

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摘要

A procedure to find suitable prediction horizons for UAV applications is presented that is based on a novel stability theory for NMPC. The procedure allows the reduction of the required length of T_p' which reduces the onboard computational effort. To this end, a modern stability theory is adopted for NMPC. On the basis of this procedure, an analytical method is presented for the derivation of values for the required prediction horizons and suitable stage cost parameters for typical UAV applications. The most important result of this work is that the prediction horizon T_p can be calculated on the basis of the time to go to the target position exclusively, whereas the stage cost parameters depend on the maximum distance to the target and an arbitrary but feasible turn radius of the UAV only. This allows for a relatively simple parametrization in practice for a wide range of UAV path-planning applications.
机译：提出了一种基于新型NMPC稳定性理论为无人机应用寻找合适的预测视野的程序。该程序允许减小所需的T_p'的长度，这减少了机载计算量。为此，NMPC采用了现代稳定性理论。在此过程的基础上，提出了一种分析方法，用于推导典型的无人机应用所需的预测范围和合适的阶段成本参数。这项工作最重要的结果是，可以仅根据到达目标位置的时间来计算预测范围T_p，而阶段成本参数取决于到目标的最大距离和任意但可行的转弯半径仅限于无人机。对于广泛的UAV路径规划应用，这实际上允许相对简单的参数化。

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