Supervisor:
Southwest Ordnance Industry Bureau
Organizer:
Chongqing Ordnance Industry Society
Chongqing University of Technology
Chongqing University of Technology
Research on trajectory planning and tracking control of quadrotor in threat environment
| DOI: | 10.11809/bqzbgcxb2023.11.034 |
| Keywords: | quadrotor; trajectory planning; tracking control; pseudospectral method; model predictive control; obstacle avoidance |
| Abstract: | For the low altitude penetration problem of quadrotor in the threat environment, it is decomposed into two sub problems (trajectory planning and tracking control) for a unified study. With the mission objective of controlling the UAV to cross the threat environment and reach the designated position in the shortest time, assuming that there are multiple known radar threats and unknown movable obstacle threats in the battlefield environment, the optimal reference trajectory of the UAV that can evade radar threats is solved offline using the hp adaptive Radau pseudo spectral method, taking into account the performance of the UAV platform. On this basis, the trajectory tracking controller is designed based on the improved model predictive control method to achieve online tracking of the reference trajectory and real time obstacle avoidance. Finally, the effectiveness of the designed algorithm is verified by the simulation. |
| Issue: | Vol. 44 No. 11 (2023) |
| Published: | 2023-11-28 |