Shrinking moving blocks based receding horizon planning for rendezvous trajectories between fixed wing and flight platform
This paper considers the rendezvous trajectory problem of a class of combined systems with fixed-wing and flight platform and proposes a shrinking moving blocks based receding horizon planning algorithm.Firstly the ren-dezvous dynamic model of a fixed-wing aerobat and a flight platform is established.Then the rendezvous trajectory planning problem is transformed into a kind of shrinking moving horizon optimization problems with the cumulative energy consumption cost,fixed terminal time and terminal states.Secondly,the shrinking moving block strategy is introduced to reduce the number of decision variables in the optimization problem,which ensures the real-time per-formance of the algorithm.Moreover,the recursive feasibility and transferability property of the algorithm are de-rived.Finally,the simulation comparison results illustrate the merits of the proposed algorithm in terms of energy saving,punctuality and real-time calculation in the rendezvous process.
万方数据
维普
