High-speed rotor aircraft path planning method based on BBO optimized artificial potential field

A rotorcraft and path planning technology, which is applied in the direction of instruments, vehicle position/route/altitude control, non-electric variable control, etc., can solve the problems of large amount of calculation for three-dimensional promotion and limited real-time computing ability of small multi-rotor unmanned aerial vehicles, etc. Achieve good online real-time calculation, avoid discontinuous aircraft control, and simple structure

Active Publication Date: 2019-06-11
BEIHANG UNIV
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Problems solved by technology

[0011] Aiming at the limited real-time computing capability of the small multi-rotor unmanned aerial vehicle, the three-dimensional extension of many three-dimensional path planning algorithms and two-dimensional path planning algorithms has a large amount of calculation, and it is difficult to transform from theory to application, and proposes a BBO-based optimized artificial potential Field-based high-speed rotorcraft path planning method

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  • High-speed rotor aircraft path planning method based on BBO optimized artificial potential field
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  • High-speed rotor aircraft path planning method based on BBO optimized artificial potential field

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[0077] The present invention will be further described in detail below in conjunction with accompanying drawings and examples.

[0078] Biogeographical optimization algorithms are suitable for solving high-dimensional, multi-objective optimization problems. What is used in the present invention is the original biogeography optimization algorithm, which has the characteristics of strong development ability and weak exploration ability; it can quickly "migrate" the parameters of candidate solutions and select a better parameter combination, but Its ability to explore the solution space beyond the candidate solutions is relatively weak. Therefore, the biogeographical optimization algorithm generally has a rapid decline in the initial objective function, and lacks the downward momentum in the later stage.

[0079] Since the design of the present invention needs to be optimized first, and then to fly, the feature of strong pre-optimization ability of biogeography makes it suitable...

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Abstract

The invention discloses a high-speed rotor aircraft path planning method based on a BBO optimized artificial potential field, and belongs to the field of aircraft intelligent task planning. The methodcomprises the following steps of establishing a body coordinate system and a local north-east ground coordinate system for a certain high-speed rotor aircraft, establishing a kinematic model and a kinetic model on the basis of two coordinate systems, and obtaining kinetic parameter boundary conditions of the aircraft through the physical characteristics of the high-speed rotor aircraft; computinga gravitational potential field and a repulsive potential field of the high-speed rotor aircraft by utilizing the kinematic model and the kinetic model; optimizing parameters of the gravitational potential field and the repulsive potential field through a BBO path planning algorithm in order to obtain a final planning path of the rotor aircraft. The algorithm disclosed by the invention is simplein structure and fast in operation speed, the requirements for on-line real-time computation can be well met, the path distance is reduced, the average speed of the aircraft is improved and is close to the limit design speed of the aircraft, and the route planning performance is remarkably improved.

Description

technical field [0001] The invention belongs to the field of aircraft intelligent task planning, in particular to a high-speed rotor aircraft path planning method based on BBO optimized artificial potential field. Background technique [0002] The basic problems to be solved by the UAV control system include flight control, aircraft status acquisition, signal transmission and control of functional equipment. In recent years, the UAV system has rapidly developed and matured, and many problems in control have been effectively solved. However, on the way to the popularization of UAVs, there is still a threshold that has not been crossed, that is, the safety control of UAVs. Safety control, including reliable flight of drones, fault-tolerant control, autonomous obstacle avoidance technology, anti-jamming technology and drone mission management, is the most important part of drone control, because if the drone and personnel If the safety of the people can't be guaranteed, everyt...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05D1/102
Inventor 宋佳赵鸣飞孙明明
Owner BEIHANG UNIV
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