航空科学技术2025，Vol.36Issue(8)：11-19,9.DOI:10.19452/j.issn1007-5453.2025.08.002
变负载任务下四旋翼航迹的规划与跟踪控制
Planning and Tracking Control of Quadcopter Trajectory under Variable Load Tasks
摘要
Abstract
Quadrotor drones are increasingly applied in logistics transportation,emergency rescue,and military reconnaissance.However,variations in payload mass pose severe challenges to trajectory planning and tracking control.This paper investigates trajectory planning and tracking control of quadrotors under variable payload conditions.To address trajectory instability induced by payload variations,an A* trajectory planning algorithm based on a collision cost field and adaptive step size is proposed,which improves search efficiency.In addition,a trajectory smoothing algorithm that minimizes acceleration is employed.To cope with the tracking difficulties caused by payload variations,a position controller combining an adaptive mass observer with an integral backstepping method is designed.Simulation experiments demonstrate that the proposed approach effectively handles both sudden and gradual payload changes,achieving real-time and accurate estimation of payload variations.It successfully avoids collisions with obstacles under varying payloads and enhances trajectory tracking performance,thereby enabling rapid tracking of desired positions.关键词
四旋翼无人机/变负载任务/航迹规划/轨迹跟踪/自适应控制Key words
quadcopter unmanned aerial vehicle/variable load tasks/track planning/trajectory tracking/adaptive control分类
航空航天引用本文复制引用
王雅栋,周琪,王旖豪,任近静,阳媛..变负载任务下四旋翼航迹的规划与跟踪控制[J].航空科学技术,2025,36(8):11-19,9.基金项目
航空科学基金(20185869009) Aeronautical Science Foundation of China(20185869009) （20185869009）
