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| UAV Cluster Path Planning Based on Pseudo-spectral Method |
| LI Zheng， CHEN Jianwei， PENG Bo |
| Beijing Institute of Space System Engineering， Beijing 100076， China |
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Abstract 针对多无人机协同飞行情况下的路径规划问题，为了解决传统路径规划算法搜索效率低、难以处理复杂约束的缺点，提出了一种基于Radau伪谱法的无人机集群路径规划方法。首先，建立了无人机的动力学模型，考虑了集群飞行过程中的约束条件，将其转化为非线性约束；然后，确定了路径规划的性能指标，建立了无人机集群路径规划的最优控制模型；最后，使用Radau伪谱法求解最优控制问题，并分别进行了无人机集群集结任务仿真和编队飞行任务仿真。仿真结果表明，基于Radau伪谱法的无人机集群路径规划算法可以得到满足状态约束、路径约束和控制约束的飞行轨迹，符合多架无人机协同飞行的需求，具有较强的实用价值。
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| Key words：
unmanned aerial vehicle （UAV）
cluster path planning
optimal control
pseudo-spectral method
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Received: 13 August 2020
Published: 25 March 2021
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2021, Vol. 4 
