| 摘要: |
| 伪谱法等轨迹规划的直接法借助初始轨迹实现迭代子问题的首次构造，从而启动序列迭代算法。为提高伪谱法迭代过程的收敛效率，以小型滑翔飞行器轨迹规划为背景，建立简化的运动学模型，推导速度倾角、速度关于高度的解析/半解析表达式，实现了高精度初始轨迹的快速生成。仿真表明，相比线性假设、简化数值积分方法，解析方法生成的迭代初值可有效降低伪谱法迭代次数，在保证精度的同时提高了轨迹规划效率。 |
| 关键词: 轨迹规划 伪谱法 解析解 初值轨迹 滑翔飞行器 |
| DOI： |
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| 基金项目:国家自然科学青年基金(62003355) |
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| A Fast Trajectory Planning Method for Gliding Vehicle Based on Analytical Initial Solutions |
| LYU Mingtian,ZHOU Xiang,ZHANG Hongbo |
| (College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073，China) |
| Abstract: |
| Direct methods of trajectory planning such as pseudospectral method use the initial trajectory to realize the first construction of the iterative subproblem, thereby starting the sequence iterative algorithm.In order to improve the convergence efficiency of the iterative process of the pseudospectral method, a simplified kinematic model is established based on the trajectory planning for a small gliding vehicle, and the analytical/locally-analytical expressions of the velocity inclination and velocity with respect to the altitude are derived, and the high-precision initial trajectory is quickly generated.The simulation results demonstrate that, compared with linear assumptions and simplified numerical integration methods, the initial iterative value generated by the analytical method can effectively reduce the number of iterations of the pseudospectral method, and improve the efficiency of trajectory planning while ensuring the accuracy. |
| Key words: Trajectory planning Pseudospectral method Analytical solution Initial trajectory Gliding vehicle |