Method for generating flight track of multi-rotor unmanned aerial vehicle based on second-order cone programming

A multi-rotor UAV, second-order cone planning technology, applied in non-electric variable control, instruments, navigation calculation tools, etc.

Inactive Publication Date: 2018-06-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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Problems solved by technology

[0006] The technical problem to be solved by a second-order cone programming-based multi-rotor UAV flight trajectory generation method disclosed in the present invention is: according to the actual task needs, based on the second-order cone programming method, the multi-rotor UAV flight that satisfies complex constraints can be obtained. trajectory, which has the advantages of high trajectory generation efficiency and good trajectory result optimality

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  • Method for generating flight track of multi-rotor unmanned aerial vehicle based on second-order cone programming
  • Method for generating flight track of multi-rotor unmanned aerial vehicle based on second-order cone programming
  • Method for generating flight track of multi-rotor unmanned aerial vehicle based on second-order cone programming

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Embodiment 1

[0078] This embodiment discloses a method for generating a flight trajectory of a multi-rotor UAV based on second-order cone programming. The specific implementation steps are as follows:

[0079] Step 1: Input multi-rotor UAV parameter information, trajectory constraint information, task environment information and algorithm parameter information.

[0080] Set the mass of the drone to 1.5kg, the maximum thrust to 30N, the maximum allowable tilt angle to 20°, and the initial position to be (10m, 3m, 20m) T , the initial velocity is (0m / s,0m / s,0m / s) T , the target position is (80m, 40m, 30m) T , the target velocity is (0,0,0) T , the initial time of the UAV is 0s, the terminal time is 10s, and the lower boundary of the position is (0m, 0m, 0m) T , the position upper boundary is (100m, 50m, 100m) T , the speed lower boundary is (-20m / s,-20m / s,-4m / s) T , the upper boundary of the speed is (20m / s, 20m / s, 4m / s) T . The environment contains 4 obstacles, and their positions ar...

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Abstract

The invention discloses a method for generating a flight track of a multi-rotor unmanned aerial vehicle based on second-order cone programming, belonging to the technical field of track planning. Themethod is realized by the following steps: establishing an optimal control problem model including performance indexes, kinematical constraints, state constraints, thrust constraints, inclined angle constraints and obstacle avoidance constraints aiming at the track generation problem of the multi-rotor unmanned aerial vehicle; and converting an optimal control problem into a second-order cone programming problem based on a discretization method and successive linearization, and carrying out iteration solving on the second-order cone programming problem, so as to obtain the flight track of a multi-rotor unmanned aerial vehicle which meets complex constraints. According to the method, the flight track of a multi-rotor unmanned aerial vehicle which meets complex constraints is established based on a second-order cone programming method according to the requirements of actual tasks; and the method has the advantages that the track generation efficiency is high, and the optimality of a track result is good.

Description

technical field [0001] The invention relates to a method for generating a flight trajectory of a multi-rotor unmanned aerial vehicle based on second-order cone planning, and belongs to the technical field of trajectory planning. Background technique [0002] UAV is a power-driven, unmanned, and reusable aircraft. It has the advantages of small size, low cost, convenient use, low environmental requirements, and strong survivability. dangerous task. UAVs mainly include fixed-wing UAVs, unmanned helicopters, multi-rotor UAVs and other types of UAVs. Among them, multi-rotor UAVs have been widely used in areas such as regional reconnaissance, power line inspection, and aerial photography in recent years due to their advantages such as high hovering accuracy, good maneuverability, simple control methods, and strong robustness. [0003] When multi-rotor UAVs are used in professional fields such as reconnaissance and line inspection, due to the characteristics of long flight time ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/101
Inventor 王祝龙腾刘莉徐广通
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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