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Dual-modal trajectory planning method for compound-wing UAV leveraging differential flatness in urban environments

Teng Long Zhenlin Zhou Jingliang Sun Junzhi Li Zihan Wang Dawei Liu

防务技术2026，Vol.60Issue(6)：50-63,14.

防务技术2026，Vol.60Issue(6)：50-63,14.DOI:10.1016/j.dt.2025.12.003

Dual-modal trajectory planning method for compound-wing UAV leveraging differential flatness in urban environments

Teng Long ¹Zhenlin Zhou ²Jingliang Sun ³Junzhi Li ²Zihan Wang ²Dawei Liu⁴

作者信息

1. School of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,China||Key Laboratory of Dynamics and Control of Flight Vehicle of Ministry of Education,Beijing,100081,China||Beijing Institute of Technology Chongqing Innovation Center,Chongqing,401121,China||National Key Laboratory of Land and Air Based Information Perception and Control,Beijing,100081,China
2. School of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,China
3. School of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,China||Key Laboratory of Dynamics and Control of Flight Vehicle of Ministry of Education,Beijing,100081,China||Beijing Institute of Technology Chongqing Innovation Center,Chongqing,401121,China
4. Research and Development Academy of Machinery Equipment,Beijing,100089,China
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摘要

关键词

Compound-wing UAV/Dual-modal trajectory planning/Differential flatness/Anytime framework

Key words

Compound-wing UAV/Dual-modal trajectory planning/Differential flatness/Anytime framework

引用本文复制引用

Teng Long,Zhenlin Zhou,Jingliang Sun,Junzhi Li,Zihan Wang,Dawei Liu..Dual-modal trajectory planning method for compound-wing UAV leveraging differential flatness in urban environments[J].防务技术,2026,60(6):50-63,14.

基金项目

This work was supported by the National Science Fund for Distinguished Young Scholars(Grant No.52425211),National Natural Science Foundation of China(Grant Nos.52372347,52272360). （Grant No.52425211）

防务技术

ISSN：2214-9147

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