基于Dubins曲线的无人直升机轨迹规划

摘要

为提高无人直升机的控制性能,提出了一种基于Dubins曲线的轨迹规划算法,并对其各个部分的实现进行了研究和设计.该算法利用Dubins曲线原理对定点飞行任务的两点或者多点目标进行分析计算,寻找出一条最短的飞行路径,从而提高了飞行效率.根据无人直升机系统多变量、非线性和强耦合的特点,采用串级PID方法设计了飞行控制器,该控制器能够修正无人直升机的姿态和位置,从而提高了轨迹规划的稳定性和准确性.最后,以某小型无人直升机为实验平台表明了谊轨迹规划算法和控制器的可行性.%To improve the control performance of an unmanned helicopter, an algorithm of trajectory planning based on Dubins curves is proposed, and the design and implementation of each part of the algorithm are presented. By using the Dubins curve principle to analyze and calculate the two fixed point or multi target of the fixed point flight mission, a shortest flight path is found in the algorithm.According to multivariable, nonlinear and strong coupling features of unmanned helicopter system, a flight controller is designed by using cascade PID method. And the posture and position ofunmanned helicopter system can be corrected by the PID controller. Thereby the stability and accuracy oftrajectory planning are enhanced. Finally, the validity ofthe presented path planning algorithm and controller are demonstrated by experiment in a small unmanned helicopter platform.