论文标题
使用微分平坦度的VTOL固定翼飞机的特技轨迹生成
Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness
论文作者
论文摘要
本文提出了一种用于特技轨迹生成的新型算法，用于垂直起飞和降落（VTOL）TAILSITTER飞行飞机。该算法与固定翼轨迹生成的现有方法不同，因为它考虑了现实的六度自由（6DOF）飞行动力学模型，包括空气动力学方程。使用全球动力学模型，可以生成超越整个飞行信封的健美动物轨迹，从而使敏捷的操纵通过摊位策略，侧向横向飞行，倒置飞行等进行。该方法使用了全球尾巴飞行动力学的差异平面属性，这是在这项工作中得出的。通过在差异较平坦的输出空间中执行快照最小化，可以获得适合在线运动计划的计算高效算法。该算法在包括六辆特技飞行器的大型飞行实验中证明了这一算法，一个时间优势的无人机赛车轨迹以及三架尾sitter飞机的飞机样的有氧运动序列。
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it considers a realistic six-degree-of-freedom (6DOF) flight dynamics model, including aerodynamics equations. Using a global dynamics model enables the generation of aerobatics trajectories that exploit the entire flight envelope, enabling agile maneuvering through the stall regime, sideways uncoordinated flight, inverted flight etc. The method uses the differential flatness property of the global tailsitter flying wing dynamics, which is derived in this work. By performing snap minimization in the differentially flat output space, a computationally efficient algorithm, suitable for online motion planning, is obtained. The algorithm is demonstrated in extensive flight experiments encompassing six aerobatics maneuvers, a time-optimal drone racing trajectory, and an airshow-like aerobatic sequence for three tailsitter aircraft.
