Two-layer Cooperative Trajectory Planner with Constraint on the Change Rate of Control Variable
Aiming at the problems of complex constraints and difficulty in solving for subsonic vehicles formation flight trajectory planning,a two-layer subsonic vehicles cooperative trajectory planner based on pseudo-spectral method is proposed.Firstly,the constraint on the change rate of the control variable is introduced to ensure the feasibility of the trajectory,to avoid adding new state equations and increasing the computational cost,the Lagrange interpolation polynomial is used to calculate the change rate of the control variable,and it is used as the constraint of the pseudo-spectral method to solving optimal control problem.Then,top-level single-vehicle planner is used to quickly solve the rough trajectory of each vehicle by using the pseudo-spectral method with fewer collocation points without considering the multi-vehicles coordination constraints,and the solution result uses Lagrange interpolation as the initial value of the bottom-level multi-vehicles planner.The bottom-level multi-vehicles planner uses more collocation points to ensure the accuracy of the solution,and solves under the consideration of multi-vehicles coordination constraints,to overcome the initial value sensitivity problem of the pseudo-spectral method and improve the optimization efficiency.Finally,the simulation results show the effectiveness of the proposed method.Compared with the method of introducing virtual control variables and increasing the state equations,the method proposed has less computational cost and better solving efficiency,and meets the requirements of cooperative trajectory planning.
Formation flightTrajectory planningRate of change constraintTwo-layer planner
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