地效飞行器的自主导航与仿真建模

小型无人地效飞行器作为一种具有广泛发展前景的固定翼无人机，其体积小、制造成本低、维护成本低等优势，以及无人操作的特性使其更易于进行实验测试和迭代更新，从而降低了财产和生命安全方面的风险。然而，由于其小型化和轻质化的特性，使其更容易受到地面效应的影响。同时，受限于较低的飞行高度，该类飞行器的机动性能也受到一定程度的限制。因此，对小型无人地效飞行器在地面效应下自主导航算法的深入研究显得尤为重要。
本研究聚焦于小型无人地效飞行器在地面效应下的自主导航算法，涵盖了空气动力学模型、运动学模型和基于两阶段的路径规划算法。首先，进行了小型地效飞行器的空气动力学建模，采用计算流体动力学仿真获取参数，并基于此建立了符合地效飞行器气动特性的动力学模型。其次，引入深度神经网络模型，将离散的仿真结果连续化，建立了地效飞行器的运动学模型。在此运动学模型下，提出了一种基于两阶段的路径规划算法，包括可离线运行的全局路径规划算法和实时运行的局部路径规划算法。全局路径规划算法中，对Hybrid-A* 算法进行改进，确保生成的路径符合运动学规律，同时对生成的路径采取B-样条曲线优化，以及针对算法存在的不完备性，采用3D Dubins 曲线路径代替最后一段路径。在局部路径规划算法中，采用了不依赖欧几里德符号距离场的梯度算法，满足轻量级和运算速度快的要求。最后，通过仿真实验，验证了基于两阶段的路径规划算法在地面效应下的有效性，仿真结果表明该算法满足小型无人地效飞行器在地面效应下航行的要求。并将此算法其它已有的路径规划算法对比，验证此算法具有计算时间短，计算的路径质量更高的特点。

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