时空约束条件下多旋翼机动轨迹优化方法

Multicopter are often used in complex and variable scenarios such as post-earthquake search and rescue, geological exploration, etc. Considering their endurance and environmental characteristics, optimizing the flight trajectory of multicopter to complete tasks better and faster has become a key issue. To this end, a multicopter's traversing indoor diagonal slit mission is set up, and a trajectory optimization method under multi-constraint based on the parabolic principle and the Pontryagin's minimum principle is proposed. By imitating the process of throwing things through a narrow window and from the perspective of analyzing the oblique slit of the task object, a parabolic trajectory is designed to guide the aircraft to cross the oblique slit with inertia. For the initial state required to throw the aircraft, Pontryagin's minimum principle is usedto realize the state transition trajectory. A 3D model was built in MATLAB to verify the crossing effect. The experiment shows that the multicopter can pass through the inclined seam with a vertical tilt of 63° or a horizontal tilt of 32°.