UAV Optimal Trajectory Planning Design And Implementation

Today, as in many other areas of civil and national defense of the widely used, air robotics has beenattracted the attention of national experts.The developed model-based small-scale helicopter is in rapiddevelopment in recent years and rely on its high flexible and mobile, in various fields has demonstratedits unique advantages.This article is the laboratory study has been based on the unmanned helicopter, forcontinuity of design and pioneering applications.Based on Tiger 90 model helicopter, my laboratory has designed parts of navigation system basedon ARM7 core hardware platform ,which sensor data acquisition and INS / GPS data filtering has beenachieved.On this basis, the transplant was experimental verification of a dual-loop PID controlalgorithm.Then debug and test the entire system, and improve the control and adjustment of controlparameters to achieve the desired tracking performance.After the completion of commissioning the controller, to achieve a hover turnning, point to pointflight, circular flight and the corresponding flight parameters debugging.On this basis, the optimaldistance and time in accordance with the principles of optimal to extend the 3D-Dubins model, designedand implemented a number of target points during cruise flight path planning and scheduling.Optimal trajectory planning and flight scheduling is the core of this paper. Optimal trajectoryplanning is based on 3D-Dubins flight model, Firstly ,calculate the shortest flight path between any twotarget points by Dubins Path , then on this path, for constraints speed planning, get the optimal trajectoryin the shortest flight time to complete the shortest path. Flight scheduling is the management of groundflying instruction, scheduling target point adjacent to wait to complete the optimal planning functions tothe flight in accordance with the intended manner.