Abstract

For the complex combat environment, considering the flyable performance constrains and the safety constrains, an online trajectory planning algorithm of UAVs(Unmanned Aerial Vehicles) based on Pythagorean Hodograph (PH) curve is put forward, which is easy to traced. When the unexpected obstacles are detected, based on the velocity obstacles avoidance method, the collision avoidance trajectory is planned online. The position of the interrupt point and the direction of the UAV turn are calculated. To fully use the PH trajectories performance that the curvature of the curve is continuous and precisely known, the location and crossing heading error equations were established within the Serret-Frenet coordinates. The corresponding asymptotically stable convergence backstepping trajectory tracking control law was designed based on the error formulations. The autonomous collision avoidance trajectory simulation result and its tracking control result show that the proposed trajectory generation method and the corresponding adaptive tracking control method are effective and can improve the tracking accuracy.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.