Leader trajectory planning method considering constraints of formation controller

作     者：YAO Dongdong WANG Xiaofang LIN Hai WANG Zhuping YAO Dongdong;WANG Xiaofang;LIN Hai;WANG Zhuping

作者机构：School of Aerospace EngineeringBeijing Institute of TechnologyBeijing100081China Xi’an Institute of Electromechanical Information TechnologyXi’an710065China 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2023年第34卷第5期

页      面：1294-1308页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Natural Science Foundation of China(11502019). 

主　　题：trajectory planning formation control prescribed performance controller multiple constraints formation shape formation transformation 

摘      要：To ensure safe flight of multiple fixed-wing unmanned aerial vehicles(UAVs)formation,considering trajectory planning and formation control together,a leader trajectory planning method based on the sparse A*algorithm is introduced.Firstly,a formation controller based on prescribed performance theory is designed to control the transient and steady formation configuration,as well as the formation forming time,which not only can form the designated formation configuration but also can guarantee collision avoidance and terrain avoidance theoretically.Next,considering the constraints caused by formation controller on trajectory planning such as the safe distance,turn angle and step length,as well as the constraint of formation shape,a leader trajectory planning method based on sparse A^(*)algorithm is proposed.Simulation results show that the UAV formation can arrive at the destination safely with a short trajectory no matter keeping the formation or encountering formation transformation.