机器人2024，Vol.46Issue(3)：266-274,283,10.DOI:10.13973/j.cnki.robot.230109
面向空地协同的旋翼无人机动平台自主降落最优轨迹生成
Optimal Trajectory Generation for Autonomous Landing of Rotorcraft on a Moving Platform for Air-ground Coordination
摘要
Abstract
The fast autonomous landing of rotorcraft on a moving platform can improve the adaptability and flexibility of air-ground robots,which is important for improving mission response speed and enhancing rescue capabilities.In order to achieve the rotorcraft landing on the moving platform in the shortest time,this paper proposes a trajectory generation method for optimal lift decomposition,aiming to maximize the flight performance of the rotorcraft with finite lift.The method decom-poses the finite lift of the rotorcraft to obtain the optimal three-axis lift distribution,then transforms the nonlinear acceleration constraint into a dynamic linear constraint,and finally solves the optimal time-of-flight trajectory of the rotorcraft according to the optimal control theory.The simulation results show that the proposed algorithm can ensure the accuracy and stability of trajectory planning,and the algorithm has high computational efficiency,which can meet the real-time requirements of the system in practical applications.关键词
旋翼无人机/空地协同/轨迹生成/升力分解/动平台降落Key words
rotorcraft/air-ground coordination/trajectory generation/lift decomposition/landing on moving platform引用本文复制引用
郑勇杰,张广玉,杨丽英,黄朝雄..面向空地协同的旋翼无人机动平台自主降落最优轨迹生成[J].机器人,2024,46(3):266-274,283,10.基金项目
国家自然科学基金(U22B2041,61991413,91948303). （U22B2041,61991413,91948303）
