Research And Application Of Trajectory Planning And Trajectory Control

Currently how to search for an optimal trajectory becomes an important aspect in trajectory planning and control's fields. For the avion, it's the foundation of getting war's dominance to design a flight path with highest survival probability using terrain and enemy's situation information. However, algorithms on trajectory planning are always high in time complexity and can't converge quickly enough, which are not fit for the trajectory planning in the war. Aim at the character, if we can design a trajectory planning and control algorithm with low time complexity, we'll break through the bottle-neck of the traditional algorithms. So the paper mainly researches on the trajectory planning and control algorithms, and applies them in the demonstrating system based on the problem above.Firstly, the research of this paper is focus on preflight global planning algorithm based on cell decomposition methods and artificial potential field methods. In preflight planning phase, the optimal global trajectory and its safe corridor can be found via synthesizing many kinds of information by large-scale computers on earth. The method based on Subdivision is adopted to plan the optimal global reference trajectory. And the width of the safe corridor is specified according to the errors during planning.Secondly, this paper puts emphasis on the research on real-time trajectory planning algorithm. New information obtains while flying is used to refresh the real-time trajectory every certain time. Aim at the differences in threat among obstacles, we provide different strategy to avoid them, including ignoring, rounding and evading to dispose any possible new threats during flying. Combined with Kalman Filter the algorithm is adopted to get more accurate real time trajectory. Therefore, the algorithm gets the ability of real-time modifying to let the plane avoid pop-up threats in time.Trajectory control algorithm is also presented to make the excursion of flight converge to zero in given limited time during flying. It is mainly used to control and reduce the excursion and crab angle within given limited time when the aerocraft is following the reference flight path. In this paper we implement...