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基于Dubins轨迹的多无人飞行器队形重构航迹规划方法研究（英文）.docx

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基于Dubins轨迹的多无人飞行器队形重构航迹规划方法研究（英文） Title:ResearchonTrajectoryPlanningMethodforMulti-UAVFormationReconstructionBasedonDubinsTrajectory Abstract: Withtheincreasingapplicationsofunmannedaerialvehicles(UAVs),researchonthetrajectoryplanningofmulti-UAVformationreconstructionhasbecomeasignificantareaofstudy.ThispaperproposesanovelmethodfortrajectoryplanningbasedonDubinstrajectorytoachieveefficientandsafeformationreconstructionformultipleUAVs.TheDubinscurveisutilizedduetoitsabilitytogenerateminimumcurvaturepaths.Theproposedmethodtakesintoaccountvariousconstraintsincludingcollisionavoidance,formationshapecontrol,energyefficiency,andsmoothtrajectorygeneration.Simulationexperimentsdemonstratetheeffectivenessandversatilityoftheproposedmethod. 1.Introduction: Unmannedaerialvehicles(UAVs)havegainedsignificantpopularityinrecentyearsduetotheirnumerousapplicationsinvarioussectors,suchassurveillance,environmentalmonitoring,andgoodsdelivery.Multi-UAVformationshavegarneredattentionastheyofferincreasedcapabilityandflexibilityforperformingcomplextasks.However,efficientandsafeplanningoftrajectoriesformulti-UAVformationsisachallengingproblem.ThispaperpresentsamethodbasedontheDubinstrajectorytoaddressthisissueeffectively. 2.RelatedWork: Severaltrajectoryplanningmethodshavebeenproposedformulti-UAVformations.Somemethodsfocusonoptimizingenergyconsumption,whileothersprioritizecollisionavoidanceandformationshapecontrol.However,veryfewstudiesconsiderallthesefactorssimultaneously.Additionally,previousmethodseitherdonotguaranteesmoothtrajectoriesorassumesimplifiedUAVmodels.Theproposedmethodaimstoovercometheselimitationsandprovideacomprehensivesolutionfortrajectoryplanninginmulti-UAVformations. 3.DubinsTrajectoryandItsAdvantages: Dubinstrajectoryisawell-knownmathematicalmodelforgeneratingminimumcurvaturepaths.Thiscurveiscomposedofstraightsegmentsandcirculararcs,makingitsuitableforUAVtrajectoryplanning.ThekeyadvantageoftheDubinscurveisitsabilitytoconnectanytwopointsinatwo-dimensionalspacewiththeminimu