摘要
将无人机模型近似为以恒定速度和有限转弯速率运动在二维平面上的质点,将无人机动态约束通过均差近似处理为线性数学模型,提出了将敌对威胁建模为随无人机位置而动态变化的矩形,以此为前提,设计了无人机最短时间飞行轨迹。通过引入决策变量和灵活地对时序等约束条件进行数学形式化,设计出一种单编队、多无人机、多目标时序约束条件下的任务分配模型。通过仿真,验证了模型的有效性。
In this chapter the mix-integer linear programming is presented to minimum time trajectory optimization for autonomous fixed-wing aircraft which is regarded as consistent velocity and limited rev.The equipotent difference is used to deal with UAV dynamic constraints.The least spending time trajectory is designed based on the new method of modeling the hostility risks with dynamic rectangular boundaries.The decision variables and giving the timing constraints a math definite form are introduced to design a formulized model for the multiple cooperative UAVs task allocation.The simulation results show the validity of the model.
出处
《飞行力学》
CSCD
北大核心
2010年第5期88-91,共4页
Flight Dynamics
