无人机在非凸城市空域中实现动态可行路径规划
Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors
- 基于混合整数模型预测控制，统一优化路径与动力学约束
- 仿真验证生成轨迹满足空域限制并收敛至目标点
- 无需外部全局规划，适合复杂城市环境实时导航
本文提出一种无人机在非凸城市空域中的运动规划框架。该规划器基于混合整数跟踪型模型预测控制，将空域可行性与动力学一致性整合于单一优化问题中。为确保收敛至目标并缓解非凸几何引发的局部极小问题，直接在规划问题中嵌入基于最短路径的偏移代价及可行性约束。数值仿真表明，所提方法生成的轨迹具有动力学有效性，满足空域约束，并在不依赖外部全局规划阶段的情况下收敛至目标。
原文摘要 · Abstract (English)
This work presents a motion planning framework for UAV navigation in non-convex urban air corridors. The planner is based on a mixed-integer tracking model predictive control formulation that enforces corridor feasibility and dynamic consistency within a single optimization problem. To guarantee convergence to the target and mitigate the occurrence of local minima induced by non-convex geometry, a shortest-path-based offset cost with feasibility constraints is embedded directly into the planning problem. Numerical simulations show that the proposed formulation generates dynamically valid trajectories that satisfy the corridor constraints and converge to the target without relying on external global planning stages.
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