复杂环境下无人机盘旋跟踪地面目标三维航迹规划OA
3D Trajectory Planning for UAV Circumnavigation and Ground Target Tracking in Complex Environment
无人机(UAV)如何在复杂环境中安全跟踪地面目标是当前研究的热点.本文针对三维多障碍环境中无人机盘旋跟踪地面目标并安全避障问题,设计了一种无碰撞盘旋跟踪三维航迹规划策略.首先,对地面移动目标设计了一个定距盘旋跟踪三维制导律,建立无人机动力学模型,阐述定距离跟踪制导律的设计方法;其次,设计了李雅普诺夫(Lyapunov)函数对该制导律稳定性进行了严格的数学证明;最后,为了实现基于无人机盘旋跟踪目标过程中的三维避障问题,提高无人机的自主能力,提出一种…查看全部>>
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…查看全部>>
梁承宇;张民;张莹
南京航空航天大学,江苏 南京 211106南京航空航天大学,江苏 南京 211106南京航空航天大学,江苏 南京 211106
无人机盘旋跟踪制导律改进型三维人工势场法三维避障
UAVcircumnavigation trackingguidance lawimproved 3D artificial potential field method3D obstacle avoidance
《航空科学技术》 2024 (9)
19-28,10
航空科学基金(20181352010)上海航天科技创新基金(SAST2021-053) Aeronautical Science Foundation of China(20181352010)Shanghai Aerospace Science and Technology Innovation Foundation(SAST2021-053)
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