北京航空航天大学学报2026，Vol.52Issue(2)：581-588,8.DOI:10.13700/j.bh.1001-5965.2024.0402
基于神经网络控制器的无人机安全降落算法
Neural network controller-based safe landing algorithm for UAVs
摘要
Abstract
This article proposes a safe landing control strategy for unmanned aerial vehicle(UAVs)by integrating control barrier functions with neural network controllers.Initially,control barrier functions and UAV's dynamical models are introduced,providing a theoretical foundation for subsequent algorithm design.Then,a control approach is proposed that uses the level set method to design control barrier functions and combine them with neural network controllers to successfully ensure UAV safety during obstacle avoidance and safe landing.Simulation experiments then validate the effectiveness of the proposed control strategy in obstacle avoidance and safe landing,demonstrating the UAV's safe obstacle avoidance capabilities under limited maneuverability and attitude constraints.The success of the suggested algorithm is finally summed up,and potential research avenues are examined.关键词
无人机安全降落/水平集方法/控制障碍函数/动力学约束/神经网络控制器Key words
UAV safe landing/level set method/control barrier function/dynamic constraints/neural network controller分类
航空航天引用本文复制引用
易绍鹏,董伟,王炜琳,王春彦,易爱清,王佳楠..基于神经网络控制器的无人机安全降落算法[J].北京航空航天大学学报,2026,52(2):581-588,8.基金项目
国家自然科学基金(62403052,62373055,62273043) （62403052,62373055,62273043）
博士后创新人才支持计划(BX20230461) （BX20230461）
中国博士后科学基金面上资助(2023M740249) National Natural Science Foundation of China(62403052,62373055,62273043) （2023M740249）
Postdoctoral Innovative Talent Support Program(BX20230461) （BX20230461）
General Funding Program of China Postdoctoral Science Foundation(2023M740249) （2023M740249）
