Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness
The trajectory planning of UAV with nonholonomic constraints is usually taken as differential algebraic equation to solve the optimal control problem of functional extremum under the condition of inequality constraints. However, it can be challenging to meet the requirements of real-time for the hig...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/8004478 |
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| _version_ | 1832549170913738752 |
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| author | Dongli Wu Hao Zhang Yunping Liu Weihua Fang Yan Wang |
| author_facet | Dongli Wu Hao Zhang Yunping Liu Weihua Fang Yan Wang |
| author_sort | Dongli Wu |
| collection | DOAJ |
| description | The trajectory planning of UAV with nonholonomic constraints is usually taken as differential algebraic equation to solve the optimal control problem of functional extremum under the condition of inequality constraints. However, it can be challenging to meet the requirements of real-time for the high complexity. A differential flat theory based on B-spline trajectory planning can replace the optimal control problem with nonlinear programming and be a good means to achieve the efficient trajectory planning of an UAV under multiple dynamic constraints. This research verifies the feasibility of this theory with actual flight experiments. |
| format | Article |
| id | doaj-art-7ae5c055cd7c47cbb443d6ff8d541cfb |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-7ae5c055cd7c47cbb443d6ff8d541cfb2025-02-03T06:11:55ZengWileyInternational Journal of Aerospace Engineering1687-59742022-01-01202210.1155/2022/8004478Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential FlatnessDongli Wu0Hao Zhang1Yunping Liu2Weihua Fang3Yan Wang4CMA Meteorological Observation CenterJiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET)Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET)Nanjing Institute of Hydraulic and Hydrology AutomationJiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET)The trajectory planning of UAV with nonholonomic constraints is usually taken as differential algebraic equation to solve the optimal control problem of functional extremum under the condition of inequality constraints. However, it can be challenging to meet the requirements of real-time for the high complexity. A differential flat theory based on B-spline trajectory planning can replace the optimal control problem with nonlinear programming and be a good means to achieve the efficient trajectory planning of an UAV under multiple dynamic constraints. This research verifies the feasibility of this theory with actual flight experiments.http://dx.doi.org/10.1155/2022/8004478 |
| spellingShingle | Dongli Wu Hao Zhang Yunping Liu Weihua Fang Yan Wang Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness International Journal of Aerospace Engineering |
| title | Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness |
| title_full | Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness |
| title_fullStr | Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness |
| title_full_unstemmed | Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness |
| title_short | Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness |
| title_sort | real time trajectory planning and control for constrained uav based on differential flatness |
| url | http://dx.doi.org/10.1155/2022/8004478 |
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