- 期刊
Autonomous Path Planning And Anti-wind Disturbance Control Of Tilt-rotor Aircraft In Complex And Dense Environment
摘要
The tilt-rotor aircraft is capable of both low-speed hovering and high-speed flight, which has a larger flight envelope. Due to the coupling between the dynamic characteristics of its rotor and the aerodynamic characteristics of its fixed wing, the anti-disturbance ability of tilt-rotor aircraft is weak, the control system is complex, and its autonomous flight ability is low. As a result, it is difficult to achieve autonomous flight in complex and dense environment. The autonomous flight ability is critical to the measurement of the intelligence level of unmanned aerial vehicles (UAVs), which is the basis for UAVs to perform complex tasks. This paper proposes an autonomous motion planning and anti-wind disturbance control algorithm for the tilt-rotor aircraft, which can realize the autonomous flight of a single aircraft in a complex and dense environment, achieve real-time perception and avoidance of static and dynamic obstacles, perform estimation and compensation of wind disturbance when there is disturbance in the wind field, and realize complete autonomous motion planning and trajectory tracking of tilt-rotor aircraft in a complex and dense environment. Our work can provide a basis for the collaborative control of multiple tilt-rotor aircrafts.