Optimal Trajectory Generation for Autonomous Landing of Rotorcraft on a Moving Platform for Air-ground Coordination

被引：0
|
作者：
Zheng Y. [1 ,2 ,3 ]
Zhang G. [1 ,2 ]
Yang L. [1 ,2 ]
Huang Z. [1 ,2 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang
[3] University of Chinese Academy of Sciences, Beijing
来源：
Jiqiren/Robot | 2024年 / 46卷 / 03期
关键词：
air-ground coordination; landing on moving platform; lift decomposition; rotorcraft; trajectory generation;
D O I：
10.13973/j.cnki.robot.230109
中图分类号：
学科分类号：
摘要：
The fast autonomous landing of rotorcraft on a moving platform can improve the adaptability and flexibility of air-ground robots, which is important for improving mission response speed and enhancing rescue capabilities. In order to achieve the rotorcraft landing on the moving platform in the shortest time, this paper proposes a trajectory generation method for optimal lift decomposition, aiming to maximize the flight performance of the rotorcraft with finite lift. The method decomposes the finite lift of the rotorcraft to obtain the optimal three-axis lift distribution, then transforms the nonlinear acceleration constraint into a dynamic linear constraint, and finally solves the optimal time-of-flight trajectory of the rotorcraft according to the optimal control theory. The simulation results show that the proposed algorithm can ensure the accuracy and stability of trajectory planning, and the algorithm has high computational efficiency, which can meet the real-time requirements of the system in practical applications. © 2024 Chinese Academy of Sciences. All rights reserved.
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页码：266 / 274and283
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