摘要
针对无人机轨迹规划过程中不确定因素的特点,提出了一种利用多项式混沌展开(polynomial chaosexpansion,PCE),并获得基于人工势能法的模型最优参数的无人机轨迹规划方法。通过建立PCE代理模型,利用随机配置点法进行快速求解,规避了对已有的最优控制模型直接优化带来的计算资源不足的问题;通过Sobol灵敏度分析,减少不确定性参数在轨迹规划模型中的计算量;通过无人机轨迹规划案例,证明了方法的有效性。仿真结果表明:该方法与经典的人工势能模型相比,增加了不确定性分析,提高了模型计算效率。
Focusing on the uncertainty in the UAV trajectory planning,combined with the artificial potential energy method,a UAV trajectory planning method based on polynomial chaos expansion(PCE),which can also efficiently obtain the optimal parameters of the model based on artificial potential field method is proposed.The PCE proxy model is established,and the stochastic collocation method is used to quickly solve the problem,so as to avoid the insufficient computing resources.Through the Sobol sensitivity analysis,the calculation overhead of the uncertainty parameters in the trajectory planning model is reduced.Cases of UAV trajectory planning prove the effectiveness of the method.Compared with the classic artificial potential field model,uncertainty analysis is added and the calculation efficiency of the model is improved.
作者
曾思劼
晏良
段晓君
Zeng Sijie;Yan Liang;Duan Xiaojun(College of Liberal Arts and Science,National University of Defense Technology,Changsha 410073,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2022年第1期145-152,共8页
Journal of System Simulation
基金
国家自然科学基金(11771450)
国家数值风洞工程(NNW2019ZT7-B23)。
