A path planning method for high-speed rotorcraft based on bbo-optimized artificial potential field
A technology for rotorcraft and path planning, which is applied to instruments, vehicle position/route/altitude control, adaptive control, etc., can solve the problems of limited real-time computing capability of small multi-rotor unmanned aerial vehicles and large amount of calculation for 3D promotion, and achieves Avoid discontinuous aircraft control, good online real-time calculation, and fast calculation speed
Active Publication Date: 2020-06-12
BEIHANG UNIV
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[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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[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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The invention discloses a path planning method for a high-speed rotorcraft based on BBO optimized artificial potential field, and belongs to the field of intelligent task planning for aircraft. For a high-speed rotorcraft, the body coordinate system and the local northeast coordinate system are established. Based on the two coordinate systems, the kinematics model and the dynamics model are established, and the dynamic parameter boundary conditions of the aircraft are obtained from the physical characteristics of the high-speed rotorcraft. ; Calculate the gravitational potential field and repulsive potential field of the high-speed rotorcraft using the kinematics model and dynamics model; use the BBO path planning algorithm to optimize the parameters of the gravitational potential field and the repulsive potential field to obtain the final planned path of the rotorcraft. The algorithm of the invention has simple structure and fast calculation speed, can better meet the requirements of online real-time calculation, reduces the path distance, increases the average speed of the aircraft, approaches the limit design speed of the aircraft, and significantly improves the path planning performance.
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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IPC IPC(8): G05B13/04
CPCG05D1/102
Inventor 宋佳赵鸣飞孙明明
Owner BEIHANG UNIV