葛樹志 王剛 程偉 代小林

摘 要：在多飛行器航跡動態(tài)協(xié)同規(guī)劃方法方面，已經(jīng)初步完成飛行器自主控制與機動調(diào)控飛行演示系統(tǒng)和微型無人旋翼飛行器（直升機、四旋翼）的實驗平臺。在環(huán)境和飛行軌跡給定的條件下，該系統(tǒng)可以演示多飛行器的航跡規(guī)劃效果。在此基礎(chǔ)上提出了一些約束條件下多飛行器航跡動態(tài)協(xié)同規(guī)劃方法，以滿足低空復(fù)雜飛行的需求

關(guān)鍵詞：航跡規(guī)劃 協(xié)同控制 無人機

Abstract：In the research of dynamic trajectory planning and collaborative control multiple unmanned aerial vehicles （UAVs）， we have completed the demonstration system of multiple UAVs and built the experimental platform of UAVs， including micro helicopters and quadrotors. In the known environments and give fight path， the system can demonstrate the effect of multiple UAVs trajectories using virtual reality technology. Based on the platform， we made the deep research on the algorithms of dynamic trajectory planning under complex constraints conditions. 17 papers are published or accepted. 8 papers of them are indexed by SCI， and 9 of them by EI. One of the journal papers are published in IEEE Trans. Industrial Electronics， and one of the conference papers appeared in IEEE Conference on Decision and Control.

Key Words：Trajectory Planning； Collaborative Control； Unmanned Aerial Vehicle

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