摘要
针对无人机进场阶段失去推力后,如何使其跟踪一条给定进场路径这一特殊情况,提出了一种3维Dubins路径跟踪方法,该方法首先利用Dubins曲线解决无人机故障位置任意性及其路径求解实时性高的路径规划问题;然后为了跟踪所生成的3维Dubins路径,设计了一种基于切换平面的自适应非线性制导方法,其中切换平面用来解决圆弧制导与直线制导之间的过渡问题,而自适应规则降低横纵向制导律之间的相互影响,从而提高了系统的跟踪精度。最后通过仿真实验验证了该方法的有效性。
For the approach stage when the unmanned aerial vehicle（UAV）loses of power,it is a special case that how to track a given approach path.A method of 3dimensions Dubins path generated and tracked is proposed.Firstly,using Dubins curve solves the path planning problem which involves that the fault position of UAV is arbitrary and the real-time of the path solution is well.Secondly,for tracking the 3dimension Dubins path,a method of adaptive nonlinear guidance based on the switching plane is designed.The switching plane deals with the transition issues between the arc and line guidance,while the adaptive law reduces the interacting between longitudinal and lateral guidance,which improves the tracking accuracy.Finally,the effectiveness of this method is proved by the simulation.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2016年第3期629-637,共9页
Systems Engineering and Electronics
基金
国家自然科学基金(61573286)
航空科学基金(20140753012)资助课题
关键词
无动力
Dubins路径
自适应
非线性制导
切换平面
无人机
unpowered
Dubins path
adaptive
nonlinear guidance
switching plane
unmanned aerial vehicle（UAV）
