动态障碍物环境下多四旋翼轨迹规划与跟踪

doi:10.16182/j.issn1004731x.joss.24-0893

摘要/Abstract

摘要：

针对多四旋翼无人机系统在动态障碍物环境下执行复杂任务时面临的问题，设计了一种综合粒子群优化的任务分配、融合传统Informed-RRT*与A*算法的轨迹规划，以及基于模型预测控制的轨迹跟踪方法。将多四旋翼任务分配问题构建为经典的多旅行商问题，使用粒子群优化将任务分配给多四旋翼无人机。设计一种综合传统Informed-RRT*与A*算法优点的融合算法进行四旋翼无人机的轨迹规划，在动态障碍物环境下为多四旋翼无人机系统中每架无人机规划出安全有效的轨迹。基于模型预测控制方法设计跟踪控制器，使四旋翼无人机能够精确地实时跟踪在线规划轨迹，并且能够避免与动态障碍物发生碰撞。仿真实验验证了算法的有效性。

关键词: 四旋翼无人机, 动态障碍物, 任务分配, 轨迹规划, 跟踪控制

Abstract:

Multi-quadrotor UAV systems face challenges when performing complex tasks in dynamic obstacle environments. Therefore, a comprehensive particle swarm optimization-based task allocation method, a trajectory planning integrating the traditional Informed-RRT* and A* algorithms, and a trajectory tracking method based on model predictive control were designed.The multi-quadrotor task allocation problem was constructed as a classical multiple traveling salesman problem, and then, the particle swarm optimization was used to assign the task to multi-quadrotor UAVs. A fusion algorithm that combined the advantages of traditional Informed-RRT* and A* algorithms for quadrotor UAV trajectory planning was designed, so as to ensure that a safe and effective trajectory was planned for each UAV of the multi-quadrotor UAV system in dynamic obstacle environments. The tracking controller was designed using the model predictive control approach to ensure that the quadcopter UAV can accurately track the online planning trajectories in real time and avoid collisions with dynamic obstacles. The simulation experiments verify the effectiveness of the proposed method.

Key words: quadcopter unmanned aerial vehicle, dynamic obstacle, task allocation, trajectory planning, tracking control

中图分类号:

TP391.9

江好胜,武芳芳,黄泽贤等 . 动态障碍物环境下多四旋翼轨迹规划与跟踪[J]. 系统仿真学报, 2025, 37(8): 2089-2102.

Jiang Haosheng,Wu Fangfang,Huang Zexian,et al . Trajectory Planning and Tracking for Multi-quadcopter in Dynamic Obstacle Environments[J]. Journal of System Simulation, 2025, 37(8): 2089-2102.

图/表 10

图1

图2

图3

表1

Flame Wheel 450型无人机参数表

参数	数值
质量/kg	1.4
电机响应时间常数	0.02
机身半径/m	0.022 5
速度常数	-141.4
螺旋桨拉力系数	$1.105 × 10 - 5$
螺旋桨扭矩系数	$1.779 × 10 - 7$
x轴的旋转惯量	0.021 1
y轴的旋转惯量	0.021 1
z轴的旋转惯量	0.036 6
螺旋桨的最大转速/(r/min)	960

表1

表2

表3

图4

表4

表5

图5

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场景类别	障碍物类型	球心 (底面中心)坐标	半径/m	长/m	宽/m	高/m
Ⅰ	圆柱体	(4, 13, 0)	2			23
	圆柱体	(15, 13, 0)	3			23
	长方体	(8.5, 5.5, 0)		7	3	23
	长方体	(10, 19.5, 0)		10	3	23
Ⅱ	圆柱体	(16, 16, 0)	2			23
	圆柱体	(9, 13, 0)	2			23
	长方体	(5, 4, 0)		7	3	23
	球体	(2, 4, 3)	2
	球体	(14, 20, 13)	2
Ⅲ	圆柱体	(4, 13, 0)	2			23
	长方体	(8.5, 17, 0)		8	3	23
	长方体	(17.5, 13, 0)		7	2	23

场景类别	障碍物类型	初始球心 (底面中心)坐标	半径/m	(长，宽，高)/m	运动范围/m	移动形式	移动速度/(m/s)
Ⅰ	球体	(3, 3, 3)	2		[2, 18]	垂直往返	1.5
	球体	(16, 6, 10)	2.5		[0, 16]	垂直往返	1.5
	圆柱体	(8, 13, 0)	1.5	(-, -, 23)
Ⅱ	球体	(10, 17, 5)	2		[13, 18]	垂直往返	1.5
Ⅱ	球体	(4, 9, 7)	2		[3, 8]	沿x轴往返	1.5
Ⅲ	球体	(16, 8, 8)	2.5		[8, 15]	垂直往返	1.5
	球体	(15, 17, 18)	1.5		[15, 22]	沿x轴往返	1.5
	长方体	(6.5, 5, 0)		(5, 2, 23)

场景类别	障碍物类型	初始球心 (底面中心)坐标	半径/m	高/m
I	球体	(5, 1, 2)	1
I	圆柱体	(3, 10, 0)	1.2	15
II	球体	(6, 1, 2)	1
II	球体	(18, 22, 16)	2

场景类别	坐标类型	坐标值
I	起飞点	(0, 0, 0), (0, 10, 0), (0, 20, 0)
I	任务点	(5, 10, 8), (10, 2, 4), (10, 14, 13), (20, 8, 15), (20, 20, 20), (15, 23, 9), (10, 10, 18)
II	起飞点	(0, 0, 0), (0, 20, 0), (20, 10, 0)
II	任务点	(5, 10, 8), (10, 2, 4), (10, 17, 13), (20, 8, 15), (20, 20, 20), (15, 23, 9), (15, 13, 18)