项目名称: 基于DMOC的复杂环境飞行器优化轨迹生成实时性能问题研究
项目编号: No.61203064
项目类型: 青年科学基金项目
立项/批准年度: 2013
项目学科: 自动化学科
项目作者: 张卫忠
作者单位: 北京理工大学
项目金额: 25万元
中文摘要: 复杂环境无人飞行器应用范围广,涉及学科多,对其的基础理论和应用研究是当前国内外研究热点之一。优化轨迹生成是无人飞行器完成其特定计划任务的核心部分。本项目以申请者长期以来对于DMOC(Discrete Mechanics and Optimal Control)的理论研究为基础,从复杂环境及无人飞行器系统模型建立,约束优化处理以及高效实时算法设计这三个一脉相承的部分开展研究。探究决定复杂环境中无人飞行器优化轨迹生成实时性能的理论关键因素,提出适用于复杂环境无人飞行器优化轨迹生成的高效实时算法,建立新的基于DMOC理论的优化轨迹实时生成的方案。重点研究方案在复杂环境中的有效性以及实时性。研究结果为设计针对无人飞行器优化轨迹实时生成方案提供理论基础,具有很强的理论与应用价值。
中文关键词: 离散力学最优控制;四旋翼无人飞行器;优化轨迹实时生成;跟踪控制;
英文摘要: Theory and application research for Unmanned Aerial Vehicle (UAV)is a very hot topic both in academics and industry . And it is also very difficult since this topic involves many different fields. Optimal trajectory generation is an essential part for UAV to perform a designated mission successfully. Based on DMOC (Discrete Mechanics and Optimal Control),this project is proposed to investigate the key factors which influence the real-time performance of optimal trajectory generation of the UAV by modelling subject in dynamic environment systematically, constraints processing, and designing a kind of high effecient algorithm. This project is a basic research project to design a high-efficiency scheme to generate optimal trajectory for UAV. This project has significant meanings both in scientific theory and future applications.
英文关键词: Discrete Mechanics and Optimal Control;Quadrotor Aircraft;Optimal trajectory real-time generation;tracking control;