航空科学技术2024，Vol.35Issue(9)：19-28,10.DOI:10.19452/j.issn1007-5453.2024.09.002
复杂环境下无人机盘旋跟踪地面目标三维航迹规划
3D Trajectory Planning for UAV Circumnavigation and Ground Target Tracking in Complex Environment
摘要
Abstract
The circumnavigation tracking of ground targets by unmanned aerial vehicles(UAV)is one of the important contents in the application field of UAVs.And how to improve the accuracy of obstacle avoidance while tracking the targets under the complex obstacle environment is a hot topic of current research.In this paper,firstly,a fixed-distance three-dimensional circumnavigation tracking guidance law is designed for ground moving targets,and a UAV dynamics model is established to illustrate the design method of the fixed-distance tracking guidance law;secondly,a strict mathematical proof of the stability of the guidance law is designed by the Lyapunov function;finally,in order to achieve 3D obstacle avoidance in the process of target-tracking based on the circumnavigation of UAVs and to improve the autonomy of UAVs,an improved 3D artificial potential field method is proposed,which is a new method to achieve 3D obstacle avoidance and to improve the accuracy of UAVs.An improved artificial potential field method is proposed to adaptively improve the artificial potential field method and decompose the repulsive force into horizontal and vertical component forces,and adopt a weighted summation method to combine them with the designed guidance law to design a 3D trajectory planning algorithm for collision-free circumnavigation tracking.The proposed strategies all consider the dynamics constraints of the UAVs.Simulation results show that the strategy can achieve the feasibility and effectiveness of UAV circumnavigation tracking to ground moving targets while safely avoiding at least six obstacles.The method can be applied to the field of UAV obstacle avoidance tracking,which is of great significance to improve the autonomous trajectory planning capability of UAVs.关键词
无人机/盘旋跟踪/制导律/改进型三维人工势场法/三维避障Key words
UAV/circumnavigation tracking/guidance law/improved 3D artificial potential field method/3D obstacle avoidance分类
航空航天引用本文复制引用
梁承宇,张民,张莹..复杂环境下无人机盘旋跟踪地面目标三维航迹规划[J].航空科学技术,2024,35(9):19-28,10.基金项目
航空科学基金(20181352010) （20181352010）
上海航天科技创新基金(SAST2021-053) Aeronautical Science Foundation of China(20181352010) （SAST2021-053）
Shanghai Aerospace Science and Technology Innovation Foundation(SAST2021-053) （SAST2021-053）
