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传统的航迹规划与航迹跟踪是解耦的,不一定能满足高空高速飞行器的规划需求。为了保证所规划结果的物理可行,同时得到相应的控制量,研究了运动轨迹在李群框架下的对称性,提出了一种适应于高空高速飞行器的运动规划方法。首先,构建能够全面反映飞行器动力学特性的航迹基元库;然后,基于威胁环境和作战要求,在规划空间中生成一系列导航矢量;并利用运动轨迹对称性,基于航迹基元库生成有向导航拓扑图;最后,利用Dijkstra算法,在拓扑图上搜索最优导航矢量序列,并解算相应的动力学航迹及控制序列。仿真结果表明,该方法充分考虑了飞行器的运动学和动力学特性,能够保证规划结果的物理可行。
The traditional track planning and track tracking are decoupled, may not be able to meet the planning requirements of high-altitude high-speed aircraft. In order to ensure the physical feasibility of the planned results and obtain the corresponding control volume at the same time, the symmetry of the trajectory under the Lie group is studied. A motion planning method adapted to the high altitude and high speed aircraft is proposed. Firstly, a trajectory primitive library that can comprehensively reflect the dynamic characteristics of the aircraft is constructed. Then, a series of navigation vectors are generated in the planning space based on the threat environment and operational requirements. Based on trajectory primitives library, Finally, using Dijkstra algorithm to search the optimal navigation vector sequence on the topology map, and solving the corresponding dynamic track and control sequence. The simulation results show that this method fully considers the kinematics and dynamics of the aircraft and can ensure the physical feasibility of the planning result.