基于混沌粒子群优化算法的翼伞系统轨迹规划

摘要

The trajectory planning of parafoil and air-dropped robot system in the disaster environments is discussed. A chaotic particle swarm optimization is proposed to deal with trajectory planning of parafoil and payload system and the controlled object is the mass model of parafoil and payload system. The non-uniform B-spline is adopted to characterize the control law and achieve the parameterized design variables. So the optimal control problem of trajectory planning is transformed into a parameter optimization problem. Then the chaotic particle swarm optimization is employed for optimization. The optimal controls are smooth, so the control rope can be manipulated easily by controlling motors. The effectiveness of the approach is shown by simulation examples.%研究灾难环境下翼伞空投机器人系统轨迹规划问题,基于简化的翼伞系统质点模型,采用混沌粒子群优化算法对翼伞系统归航轨迹进行寻优.该方法采用非均匀B样条技术实现最优控制规律的参数化,将翼伞系统轨迹规划的最优控制问题转换成参数优化问题,进而运用混沌粒子群优化算法进行寻优计算.轨迹规划的控制曲线是光滑的,利于电机对翼伞系统的操纵伞绳实施控制.仿真结果表明,该方法对翼伞系统的轨迹规划控制是有效的.