利用微分平坦性实现固定翼无人机实时轨迹规划与控制。
Trajectory Planning and Control for Differentially Flat Fixed-Wing Aerial Systems
- 基于固定翼飞机在协调飞行中的微分平坦性生成动态可行轨迹。
- 支持连续重规划，有效应对路径曲率约束和风扰等挑战。
- 适用于小型固定翼无人机，在真实环境中验证了鲁棒性。
由于固定翼无人飞行器具有非完整特性、复杂动力学及未知气动效应带来的额外不确定性，其实时轨迹规划与控制面临挑战。本文提出一种快速高效的实时轨迹规划与控制方法，利用固定翼飞机在协调飞行条件下的微分平坦性，生成动态可行轨迹。该方法具备持续重规划能力，可随飞行进程动态适应曲率约束。大量仿真与真实世界实验验证了该方法的有效性，即使在风扰等恶劣条件下，仍能生成可靠轨迹，尤其适用于小型固定翼无人机。
原文摘要 · Abstract (English)
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In this paper, we present a fast and efficient real-time trajectory planning and control approach for fixed-wing unmanned aerial vehicles, leveraging the differential flatness property of fixed-wing aircraft in coordinated flight conditions to generate dynamically feasible trajectories. The approach provides the ability to continuously replan trajectories, which we show is useful to dynamically account for the curvature constraint as the aircraft advances along its path. Extensive simulations and real-world experiments validate our approach, showcasing its effectiveness in generating trajectories even in challenging conditions for small FW such as wind disturbances.
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