沈阳航空航天大学学报2025，Vol.42Issue(5)：53-59,7.DOI:10.3969/j.issn.2095-1248.2025.05.007
离散力学最优控制的车载旋翼无人机轨迹优化算法
Trajectory optimization algorithm of vehicle-mounted rotor UAV with discrete mechanics and optimal control
摘要
Abstract
In the context of cooperative operation between UAV and ground vehicle,rotor UAV often needs to pass through necessary points or avoid obstacles when executing related tasks,which increases the trajectory fluctuation and brings more challenges to path planning.To solve this problem,an improved discrete mechanics and optimal control(DMOC)trajectory optimization algorithm was proposed,which transformed the optimal control problem into a nonlinear programming problem.Considering the endurance time of vehicle-mounted rotor UAV,the shortest time was set as the optimization objective under guaranteed traversal conditions.In the process of the algorithm implementation,an approach was proposed to adjust the distance walk length according to the size of the error factor,and then approximate correlation integral,which effectively solved the problem of trajectory fluctuation.The experimental results show that this method can improve the smoothness of the optimal trajectory while ensuring that all the necessary points are traversed,and also provides a reference for the trajectory optimization of other agents.关键词
离散力学最优控制/非线性规划/车载旋翼无人机/离散步长/轨迹优化Key words
discrete mechanics and optimal control/nonlinear programming/vehicle-mounted rotor UAV/distance walk length/trajectory optimization分类
航空航天引用本文复制引用
卢艳军,刘畅,张晓东,王栋宇..离散力学最优控制的车载旋翼无人机轨迹优化算法[J].沈阳航空航天大学学报,2025,42(5):53-59,7.基金项目
国家重点研发计划项目(项目编号:2022YFC2903805). （项目编号:2022YFC2903805）
