Route Planning And Trajectory Control System Design For Micro Unmanned Aerial Vehicle

In recent years, the micro-rotor UAV is widely used in daily life. Hence, the more stringent requirements about autonomy and security are proposed. However, UAV is currently in the variable privileges autonomous control phase, and there is still a long gap from the autonomous control phase, in which automatic path planning and independent tracking control are two crucial technologies to achieve full autonomy.In this thesis, the whole process of design and implementation of small four-rotor UAV’s path planning and tracking control system is described in detail. First, design goal is proposed from the actual demand analysis, and path planning and tracking controller are designed consummately after a detailed algorithm analysis. Then, a autonomous flight control experiment platform base on quadrotor helicopter is integrated and the software of autonomous path planning and cruise flight control are achieved based on the experiment. At the same time, a communication project between aircraft and ground station is realized. Finally, through the actual autonomous flight experiment of obstacle avoidance, the practicability of the path planning and path tracking control system designed is effectively verified. The main work contains the following several aspects:(1) According to the actual flight environment, dynamic performance of micro-rotor UAV and the mission requirements, design requirements of dynamic path planning are put forward. Obstacles in the actual environment have been abstracted into polyhedron or linear model constraints, and terrain avoidance adoptive irregular triangular mesh model,while the collision avoidance constraints between the aircrafts are with the help of round circumscribed rectangle. Then dynamic path planning is executed under the optimized objective function of the most provinces fuel and shortest distance based on the strategy of RHC, through introducing decision variables to unify all constraints to the MILP framework. Final the optimization problem described as AMPL standard mathematical model is solved through the CPLEX software and task acquirement is achieved based on GoogleEarth.(2) Starting from the analysis of basic structure and flight performance of UAV, path tracking controller is designed by introducing desired pitch and roll angles as virtual controls so that separate the underactuated system into two actuated subsystems: inner loop attitude system and outer loop position system. According to the actual flight condition,mathematical model of UAV is simplified reasonably, then inner loop attitude controller is designed based on PD algorithm. Outer loop position controller is realized based on the bounded control theory through the equivalent transformation of control amount.(3) A comprehensive system hardware experiment platform based on small quadrotor is integrated in order to verify the feasibility of the path planning and tracking control system. Then, based on this experiment platform, the software of path planning and autonomous flight control tracking is developed and realized, and a communication project between aircraft and ground station is designed and achieved.(4) Through actual flight control experiments, the feasibility of path planning and track control algorithms as well as the availability the previous integrated hardware experiment platform are effectively verified, including dynamic path planning under known environment, autonomous flight control performance test of small quadrotor and autonomous obstacle avoidance flight experiment under known environment.