| 无人机航迹控制模块的优化设计与实现 |
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| 引用本文：张凡，刘正坤，林典润.无人机航迹控制模块的优化设计与实现[J].计算技术与自动化,2024,(1):16-24 |
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| 中文摘要:当前在无人机作业过程中，能够根据预设的目的地信息自主控制飞行的模块，在多个最优方案条件下，需要预设复杂约束条件，否则就会存在寻优过程不收敛的问题，导致控制效果不佳。针对这一问题，研究了无人机航迹自主控制模块的改进设计。设计可以采集无人机的位置、速度等飞行信息，并上传至飞行主控器的模块硬件，软件在符合无人机飞行约束与威胁约束的条件下，规划获取后续飞行的最优航迹点。为了保证无人机飞行距离最短、高度最小，将无人机航迹自主控制问题变成优化问题。在面临多个最优方案条件下，构建基于鲸鱼算法的无人机航迹选择模型，以无人机飞行航线代价最小为目的，使用鲸鱼算法求解无人机航迹自主控制方案，完成软件设计。实验结果显示：使用所设计模块后，无人机可自主控制飞行航迹，成功避开静态威胁因素、动态威胁因素安全飞行至目的地。 |
| 中文关键词:无人机 航迹自主控制模块 鲸鱼算法 约束条件 不收敛 选择模型 航迹规划 |
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| Optimization Design and Implementation of UAV Track Control Module |
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| Abstract:At present, in the process of UAV operation, the module that can autonomously control the flight according to the preset destination information needs to preset complex constraints under the condition of multiple optimal schemes, otherwise there will be a problem of non convergence in the optimization process, leading to poor control effect. Aiming at this problem, the improved design of UAV track autonomous control module is studied. The design can collect the position, speed and other flight information of the UAV, and upload them to the module hardware of the flight master. The software can plan and obtain the optimal track point for subsequent flight under the conditions of meeting the flight constraints and threat constraints of the UAV. In order to ensure the shortest flight distance and minimum altitude of UAV, the problem of autonomous control of UAV track is turned into an optimization problem. In the face of multiple optimal solutions, a UAV path selection model based on the Whale Algorithm is constructed. With the goal of minimizing the cost of UAV flight path, the Whale Algorithm is used to solve the UAV path autonomous control scheme and complete the software design. The experimental results show that after using the designed module, the UAV can control its flight path independently and successfully avoid static threats and dynamic threats to fly to the destination safely. |
| keywords:UAV track autonomous control module whale algorithm constraints non convergence select model route planning |
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