Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness

被引：0
|
作者：
Wu, Dongli [1 ]
Zhang, Hao [2 ]
Liu, Yunping [2 ]
Fang, Weihua [3 ]
Wang, Yan [2 ]
机构：
[1] CMA Meteorol Observat Ctr, Beijing 100081, Peoples R China
[2] Nanjing Univ Informat Sci & Technol, Jiangsu Collaborat Innovat Ctr Atmospher Environm, Nanjing 210044, Peoples R China
[3] Minist Water Resources, Nanjing Inst Hydraul & Hydrol Automation, Nanjing, Peoples R China
来源：
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING | 2022年 / 2022卷
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
The trajectory planning of UAV with nonholonomic constraints is usually taken as differential algebraic equation to solve the optimal control problem of functional extremum under the condition of inequality constraints. However, it can be challenging to meet the requirements of real-time for the high complexity. A differential flat theory based on B-spline trajectory planning can replace the optimal control problem with nonlinear programming and be a good means to achieve the efficient trajectory planning of an UAV under multiple dynamic constraints. This research verifies the feasibility of this theory with actual flight experiments.
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页数：17
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