差分平坦固定翼航空系统的轨迹规划与控制
Trajectory Planning and Control for Differentially Flat Fixed-Wing Aerial Systems
AI总结：
针对固定翼无人机实时轨迹规划与控制的挑战，本文提出一种利用微分平坦特性生成动态可行轨迹并支持持续重规划的方法，通过仿真与真实实验验证了其在风扰动等恶劣条件下的有效性。
摘要：
由于固定翼无人机的非完整性、复杂动力学以及未知空气动力学效应引入的额外不确定性，为其实现高效的实时轨迹规划与控制具有挑战性。本文提出了一种快速高效的固定翼无人机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特性来生成动态可行的轨迹。该方法能够持续重新规划轨迹，我们证明这有助于在飞机沿路径前进时动态地考虑曲率约束。大量仿真和真实世界实验验证了该方法，展示了其在风扰动等恶劣条件下为小型 FW 生成轨迹的有效性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
