基于动力学对称性的高空高速飞行器运动规划

传统的航迹规划与航迹跟踪是解耦的，不一定能满足高空高速飞行器的规划需求。为了保证所规划结果的物理可行，同时得到相应的控制量，研究了运动轨迹在李群框架下的对称性，提出了一种适应于高空高速飞行器的运动规划方法。首先，构建能够全面反映飞行器动力学特性的航迹基元库；然后，基于威胁环境和作战要求，在规划空间中生成一系列导航矢量；并利用运动轨迹对称性，基于航迹基元库生成有向导航拓扑图；最后，利用Dijkstra算法，在拓扑图上搜索最优导航矢量序列，并解算相应的动力学航迹及控制序列。仿真结果表明,该方法充分考虑了飞行器的运动学和动力学特性，能够保证规划结果的物理可行。

Motion planning for high-altitude high-speed aircraft based on dynamical symmetry

Traditional planning methods are difficult to satisfy the planning requirement of high-altitude high-speed aircraft because these methods consider planning and tracking independently.Under such circumstances,a novel motion planning method for high-altitude high-speed aircraft is proposed,after the symmetry of motion trajectories is studied and confirmed in the Lie-group framework.This proposed approach synthetically regards planning and tracking as a whole,to enable the planned trajectories physically feasi...