针对移动平台的无人机自主降落的新型速度规划方法
A novel velocity planning method for autonomous landing of unmanned aerial vehicles on mobile platforms
唐嘉宁 1张向东 2马孟星 1黄明辉 2闫搏远2
作者信息
- 1. 云南民族大学 电气信息工程学院,昆明 650000;云南民族大学 无人自主系统研究院,昆明 650000
- 2. 云南民族大学 电气信息工程学院,昆明 650000
- 折叠
摘要
针对现有的无人机降落存在过激的加速、减速以及反向飞行和多次振荡的问题,进行了无人机自主降落于移动平台过程中的速度规划方法研究,提出了一种基于移动平台梯度和风险权重的自主降落速度规划方法.仿真实验表明,与Fast-perching降落方法相比,所提方法减少了过激的加速、减速和振荡次数,避免了反向飞行,且降落时间效率提高了30.76％,水平方向降落效率提高了26.47％,垂直方向降落效率提高了37.5％,为无人机自主降落到移动平台速度规划问题提供了一种有效的解决方案,具有一定的工程实用价值.
Abstract
To address the problems of excessive acceleration, deceleration, reverse flight, and multiple oscillations in current unmanned aerial vehicle landing, this paper studies the velocity planning method for unmanned aerial vehicle autonomous landing on a mobile platform and proposes a velocity planning method for autonomous landing based on mobile platform gradient and risk weight. Simulation experiments show that compared with the Fast-perching landing method, our method reduces the number of excessive acceleration, deceleration, and oscillation, avoids reverse flight, and improves the landing time efficiency by 30 . 76％, horizontal landing efficiency by 26 . 47％, and vertical landing efficiency by 37. 5％. Thus, it may prove useful, providing an effective solution for the velocity planning problem of autonomous landing of unmanned aerial vehicles on mobile platforms.
关键词
无人机/移动平台/自主降落/速度规划Key words
unmanned aerial vehicle/mobile platform/autonomous landing/velocity planning method引用本文复制引用
基金项目
国家自然科学基金项目(61963038)
国家自然科学基金项目(62063035)
出版年
2024
国家科技期刊平台
NSTL
万方数据