【摘要】 通过分析四旋翼无人机动力学模型并获取实际参数,利用hp自适应Radau伪谱法(Radau pseudospectral method RPM)优化四旋翼无人机避障轨迹。hp自适应RPM利用Legendre-Gauss-Radau(LGR)点将连续最优控制问题转化为非线性规划问题,根据不同点处的误差进行自适应的细化区间或增加配点,以最快的速度逼近状态变量和控制变量。根据仿真结果显示,在以轨迹最短为目标的情况下,hp自适应RPM效率较高,目标轨迹更短,优化结果较为满意。更多还原

【Abstract】 Hp adaptive Radau pseudospectral method(RPM) is used to optimize the obstacle avoidance trajectory of the quad-rotor UAV by analyzing the dynamics model of the quad-rotor UAV and obtaining the actual parameters.Legendre-Gauss-Radau(LGR) point is used to convert optimal control problem into nonlinear programming problem. According to the errors of different point, the interval is refinied or the collocation is increased adaptively to approximate state variables and control variables at the fastest speed. According to the simulation results,the hp adaptive RPM is more efficient,the target trajectory is shorter and the optimization result is satisfactory with the shortest trajectory as the optimization target.更多还原