Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan 70101, Taiwan.
Sensors (Basel). 2011;11(8):7502-29. doi: 10.3390/s110807502. Epub 2011 Jul 28.
This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).
本文专注于设计一个无人直升机的组合导航和制导系统。组合导航系统由两个系统组成：飞行路径规划系统（FPPS）和飞行控制系统（FCS）。FPPS 通过自适应的 A-Star（A*）算法找到最短的飞行路径，对于不同的飞行条件，FPPS 可以添加一个禁止区域，以阻止无人直升机进入危险区域。在本文中，通过多分辨率方案减少了 FPPS 的计算时间，并通过路径平滑方法提高了飞行路径的质量。同时，FCS 包括基于模糊逻辑的模糊推理系统（FIS）。通过使用专家知识和经验来训练 FIS，控制器可以在没有动态模型的情况下操作无人直升机。FPPS 和 FCS 的组合系统旨在为任务目的地提供导航和制导，并通过耦合飞行模拟软件 X-Plane 和计算软件 MATLAB 来实现。进行了仿真，并以实时三维动画显示。最后，该组合系统成功地演示了在控制无人直升机在数字高程模型（DEM）的各种地形中运行的功能。
