4D Trajectory Planning of Unmanned Aerial Vehicle in Trajectory Based Operation Airspace
Fan Kai, Han Songchen, Liao Wenjing, Liang Binbin · 2019
In the foreseeable future, UAV flight missions are more likely to be implemented independently. In Trajectory Based Operation (TBO) airspace, UAV will also fly according to 4D trajectory with time window. How to plan a safe 4D trajectory for UAV will become another requirement for UAV to integrate into airspace. In this paper, firstly, the navigation problem of UAV is modeled, and the constraints of UAV in the process of flying mission are given through the flight dynamics model of UAV. Combined with performance constraints, 4D waypoint constraints and obstacle constraints, the modeling of mixed integer linear programming (MILP) problem is carried out. Then the optimization of mixed integer programming problem is carried out. With the optimization of the trajectory for the acceleration change rate of the UAV, and using the method of multi-time scale decomposition, the computation complexity is greatly reduced. Finally, the solution of the case is analyzed.