摘要
针对基于视觉导航的航迹规划技术存在的两个问题:第一,作为一类存在有限测量量程的导航系统,视觉导航系统需要目标始终出现在摄像头的视野内;第二,当目标始终在摄像头的光轴延长线附近时,视觉算法能够更有效率并且更准确的解决位姿估计问题;文中首先将航迹优化问题转化为最优控制问题,结合飞行器运动动力学特性,设计最优控制问题的约束与最优指标。然后,文中利用伪谱法将连续时间最优控制问题转化为离散时间非线性规划问题,并在此基础上研究了基于滚动时域的动态规划方法,最终减少视觉导航误差对航迹优化的不良影响。
As to the two key problems of path planning technology based on vision navigation： first, as a kind of limited measuring range navigation system, the visual navigation system requires that target should be in the camera view; Second, it is more efficient and accurate for visual algorithm to solve The pose estimation problem when the target is always near the optical axis of camera extension cord. Route optimization problem is firstly transformed into the optimal control problem in this paper and the optimal control problem of constraint and optimal index is designed by combining with the aircraft motion dynamics characteristics. Then, continuous time optimal control problem is transformed into discrete time nonlinear programming problem by utilizing the method of pseudo-spectral. While the dynamic planning based on rolling time domain method is researched to reduce the bad influence of visual navigation error on route optimization.
作者
吴成良
曹云峰
庄丽葵
谢也
丁萌
WU Cheng-liang CAO Yun-feng ZHUANG Ei-kui XIE Ye DING Meng(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China)
出处
《电子设计工程》
2017年第3期14-18,共5页
Electronic Design Engineering
关键词
视觉导航
最优控制
动态规划
GAUSS伪谱法
滚动时域
visual navigation
optimum control
dynamic planning
Gauss pseudo-spectral
rolling time domain
