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首页> 外文期刊>Journal of Guidance, Control, and Dynamics >Smooth Flight Trajectory Planning in the Presence of No-Fly Zones and Obstacles
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Smooth Flight Trajectory Planning in the Presence of No-Fly Zones and Obstacles

机译：有禁飞区和障碍物的平稳飞行轨迹规划

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This paper describes a novel procedure to generate continuously differentiable optimal flight trajectories in thenpresence of arbitrarily shaped no-fly zones and obstacles having a fixed position in time. The operational flightnscenario is first discretizedwith a finite dimensional grid of positions-directions pairs.Aweighted and oriented graphnis then defined for which the nodes are the earlier mentioned grid points and for which the arcs correspond tonminimum length trajectories compliant with obstacle avoidance constraints. Arcs are obtained via solving convexnquadratic programming optimization problems that can also account for geometrical constraints such as trajectoryncurvature limitations. The problem of finding an optimal trajectory be tween two nodes of the so-called core pathsngraph is then solved via aminimumcost path search algorithm. In a real-time application perspective, the generationnof the core paths graph is computationally cumbersome. Moreover, the aircraft position and direction rarelyncoincide with one of the graph nodes. However, if the graph is built offline and stored, the definition of an optimalntrajectory connecting any points of the space domain requires a reduced computational effort. The particular case ofnpiecewise polynomial trajectories minimizing a flight path’s length, compliant with constraints on curvature andnflight-path angles, is fully developed. Two- and three-dimensional examples are discussed to show the applicabilitynas well as the effectiveness of the technique.
机译：本文描述了一种新颖的方法，该方法可在存在任意形状的禁区和具有固定位置的障碍物的情况下生成连续可区分的最佳飞行轨迹。首先用位置-方向对的有限维网格离散化操作情景。然后，对加权和定向的石墨进行定义，为其指定节点为较早提到的网格点，并为其弧线对应符合避障约束的最短长度轨迹。通过解决凸二次编程优化问题可以获得弧，该问题也可以解决几何约束，例如轨迹-曲率限制。然后通过最小成本路径搜索算法解决在所谓的核心路径图的两个节点之间找到最佳轨迹的问题。从实时应用的角度来看，核心路径图的生成在计算上很麻烦。此外，飞机的位置和方向很少与图节点之一重合。但是，如果该图是由精细构建并存储的，则连接空间域任意点的最优轨迹的定义将需要减少计算量。逐个多项式轨迹的特殊情况已得到充分开发，该多项式轨迹使“直路径”的长度最小化，并符合曲率和“直路径”角度的约束。讨论了二维和三维示例，以显示该技术的适用性以及有效性。

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