摘要
文章提出一种多目标点同时到达约束下的规划设计方法,其由匈牙利算法实现最优目标分配,防撞算法给出速度分段矩阵,经无人机运动学特性修正后,输出值可直接写入无人机地面站控制飞行。该方法在保证飞行器飞行安全的情况下,不仅解决了现有等长轨迹规划法导致的飞行器跟踪轨迹复杂性问题,同时也优化了飞行器同时到达多目标点的飞行时间。
It presented a design method for simultaneous arrival of multiple objective points under constraint of reaching simultaneously. The optimal target allocation part is realized through the Hungarian algorithm, and drones' velocity segmented matrix is given by Anti-collision algorithm. After modifying according to dynamic characteristics of drone, the output of the algorithm can be directly imported to the ground station to control the flight. This method solves the complexity of aircraft tracking trajectory caused by the existing equal-length trajectory planning method, and optimizes the flight time of aircraft reaching multiple target points simultaneously while ensuring the flight safety.
作者
董程博
陈恩民
杨坤
魏东辉
DONG Chengbo;CHEN Enmin;YANG Kun;WEI Donghui(School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;Laboratory of Complex System Control and Intelligent Collaborative Technology, Beijing 100048, China)
出处
《控制与信息技术》
2019年第4期23-28,38,共7页
CONTROL AND INFORMATION TECHNOLOGY
关键词
协同控制
最优目标分配
不等长轨迹
同时到达
匈牙利算法
防撞算法
cooperative control
optimal target allocation
unequal trajectories
reaching simultaneously
Hungarian algorithm
collision avoidance algorithm
