Leader trajectory planning method considering constraints of formation controller

doi:10.23919/JSEE.2023.000079

Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (5): 1294-1308.doi: 10.23919/JSEE.2023.000079

收稿日期:2021-12-27 出版日期:2023-10-18 发布日期:2023-10-30

Leader trajectory planning method considering constraints of formation controller

Dongdong YAO¹(), Xiaofang WANG¹^,*(), Hai LIN¹(), Zhuping WANG²()

¹ School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, China
² Xi’an Institute of Electromechanical Information Technology, Xi’an, 710065, China

Received:2021-12-27 Online:2023-10-18 Published:2023-10-30
Contact: Xiaofang WANG E-mail:3120205027@bit.edu.cn;wangxf@bit.edu.cn;flight@bit.edu.cn;2799410606@qq.com
About author:
YAO Dongdong was born in 1993. He received his Master’s degree from Beijing Institute of Technology in 2020. He is a doctoral student in School of Aerospace Engineering, Beijing Institute of Technology. His main research interests include flight vehicle guidance and control. E-mail: 3120205027@bit.edu.cn

WANG Xiaofang was born in 1979. She received her Ph.D. degree from Beijing Institute of Technology in 2006. She is an associate professor in School of Aerospace Engineering, Beijing Institute of Technology. Her main research interests include cooperative guidance and control of multiple aircraft, flight dynamics, and flight vehicle design. E-mail: wangxf@bit.edu.cn

LIN Hai was born in 1967. He received his Ph.D. degree from Beijing Institute of Technology in 2000. He is a professor in Beijing Institute of Technology. His main research interests include flight dynamics and flight vehicle design. E-mail: flight@bit.edu.cn

WANG Zhuping was born in 1980. She received her Master’s degree from Xi’an Technological University in 2004. She is a senior engineer in Xi’an Institute of Electromechanical Information Technology. Her main research interests include flight vehicle electromechanical design. E-mail: 2799410606@qq.com
Supported by:
This work was supported by the National Natural Science Foundation of China (11502019)

摘要/Abstract

Abstract:

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.

Key words: trajectory planning, formation control, prescribed performance controller, multiple constraints, formation shape, formation transformation

. [J]. Journal of Systems Engineering and Electronics, 2023, 34(5): 1294-1308.

Dongdong YAO, Xiaofang WANG, Hai LIN, Zhuping WANG. Leader trajectory planning method considering constraints of formation controller[J]. Journal of Systems Engineering and Electronics, 2023, 34(5): 1294-1308.

图/表 41

参考文献 17

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Type	x	z	Height	Radius
Peak	700	700	300	(300,300)
	1500	300	350	(350,350)
	300	600	310	(310,330)
	1600	1300	300	(300,300)
	1500	1500	250	(250,250)
	400	1800	260	(260,260)
	450	1500	400	(400,200)
Cylinder	1100	900	600	100
	900	1100	600	100
	1300	600	600	250
	750	1300	600	150

Follower	Formation 1			Formation 2
Follower	${x^ * }$	${z^ * }$	${y^ * }$	${x^ * }$	${z^ * }$	${y^ * }$
1	50	0	0	30	0	0
2	−50	0	0	−30	0	0
3	0	50	0	0	30	0
4	0	−50	0	0	−30	0
5	0	0	50	0	0	30
6	0	0	−50	0	0	−30

Point	$x/\;{\rm{m}}$	${{y} }/\;{\rm{m} }$	$z/\;{\rm{m}}$	$v/({\rm{m} } \cdot { {\rm{s} }^{ - 1} })$
Start	0	350	0	40
End	2000	350	1800	40

Leader trajectory planning method considering constraints of formation controller

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