Obstacle and wind field are common environmental factors for mini unmanned helicopter (MUH) flight. This paper aims to develop a trajectory planning approach guiding MUH to avoid static and dynamic obstacles and to fly in steady uniform or boundary-layer wind field.

    Design/methodology/approach

    An optimal control model including a nonlinear flight dynamics model and a cubic obstacle model is established for MUH trajectory planning. Radau pseudospectral method is used to generate the optimal trajectory.

    Findings

    The approach can plan reasonable obstacle-avoiding trajectories in obstacle and windy environments. The simulation results show that high-speed wind fields increase the flight time and fluctuation of control inputs. If boundary-layer wind field exists, the trajectory deforms significantly and gets closer to the ground to escape from the strong wind.

    Originality/value

    The key innovations in this paper include a cubic obstacle model which is straightforward and practical for trajectory planning and MUH trajectory planning in steady uniform wind field and boundary-layer wind field. This study provides an efficient solution to the trajectory planning for MUH in obstacle and windy environments.


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    Titel :

    Trajectory planning for mini unmanned helicopter in obstacle and windy environments


    Beteiligte:
    Xiang, Jinwu (Autor:in) / Shen, Tong (Autor:in) / Li, Daochun (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2018-07-04


    Format / Umfang :

    9 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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