在人工智能技術(shù)廣泛應(yīng)用的時(shí)代，各種類(lèi)型的飛行器和機(jī)器人將代替人執(zhí)行多種任務(wù)。軌跡生成和路徑規(guī)劃對(duì)于這些具體任務(wù)的完成，在細(xì)節(jié)上具有至關(guān)重要的作用。本書(shū)包括離散力學(xué)最優(yōu)軌跡實(shí)現(xiàn)技術(shù)提出的背景意義、理論基礎(chǔ)、應(yīng)用步驟及結(jié)果分析。全書(shū)討論了離散力學(xué)最優(yōu)控制理論在優(yōu)化軌跡生成這一方向的相關(guān)研究成果，通過(guò)理論分析和仿真驗(yàn)證對(duì)這種優(yōu)化軌跡生成方法進(jìn)行了研究，并給出了此方法相對(duì)于其他主流方法的優(yōu)勢(shì)對(duì)比，舉例說(shuō)明了該技術(shù)針對(duì)一些代表性對(duì)象的實(shí)際應(yīng)用結(jié)果。
張衛(wèi)忠博士，江蘇宜興人。現(xiàn)任北京理工大學(xué)宇航學(xué)院飛行器控制系副主任。2009年畢業(yè)于美國(guó)路易斯維爾大學(xué)電氣與計(jì)算機(jī)工程系，獲得博士學(xué)位，并獲Outstanding Graduate獎(jiǎng)。2010年加入北京理工大學(xué)，主要研究領(lǐng)域?yàn)樽顑?yōu)控制理論應(yīng)用，導(dǎo)航、制導(dǎo)與控制。主持國(guó)家自然科學(xué)基金項(xiàng)目青年項(xiàng)目，參與國(guó)家自然科學(xué)基金面上項(xiàng)目及重大項(xiàng)目子課題等科研項(xiàng)目，發(fā)表研究論文多篇。
Chapter 1 Introduction
1.1 Motivation
1.2 Related Work
1.3 NTG and DMOC
1.4 Book Contributions
1.5 Book Outline
Chapter 2 Glider Trajectory Generation with NTG
2.1 Problem Definition
2.2 Glider Trajectory Generation
2.3 Ocean Current Model
2.3.1 2D B-spline Ocean Flows Model
2.3.2 3D B-spline Ocean Flows Model
2.4 Nonlinear Trajectory Generation
2.4.1 Cost Function
2.4.2 Constraints
2.5 Optimal Control of a Kinematical Glider
2.5.1 NTG Solution for 3D B-spline Ocean Flows Model
2.5.2 Comparison in the 2D and 3D B-spline Ocean Current Models
2.6 Optimal Control of a Dynamical Glider
2.6.1 Cost Function
2.6.2 Constraints
2.6.3 NTG Solutions for the Dynamic Glider
2.7 Animation of Glider and Ocean Current
2.8 Summary
Chapter 3 Aerobot Trajectory Generation with NTG
3.1 NASA JPL Aerobot
3.2 Euler-Lagrange Based Aerobot Trajectories
3.2.1 Euler-Lagrange Equations
3.2.2 Wind Profile
3.2.3 Problem Formulation
3.2.4 Simulated 3D Trajectory
3.3 State Space Model Based Trajectories
3.3.1 Problem Formulation
3.3.2 Simulated 3D Trajectories
3.4 Summary
Chapter 4 Trajectory Generation with DMOC
4.1 DMOC Methodology
4.2 DMOC Tutorial
4.2.1 IPOPT
4.2.2 AMPL
4.2.3 Implementation Details
4.2.4 An Application Example
4.3 Summary
Chapter 5 Comparison of DMOC and NTG
5.1 Discrete Mechanics and Optimal Control
5.1.1 Discrete Cost Function
5.1.2 Discrete Lagrange d’Alembert Principle
5.2 Nonlinear Trajectory Generation
5.2.1 Problem Formulation
5.2.2 Procedure in NTG
5.3 DMOC versus NTG
5.3.1 A Glider in the Simple Current Model
5.4 A Glider in the B-spline Ocean Model
5.5 Hovercraft Example
5.6 Summary
Chapter 6 Testbed Establishment
6.1 Testbed
6.2 Vicon Vision System
6.3 Real-Time Application
6.4 Summary
Chapter 7 Multiple Phase DMOC
7.1 Introduction
7.2 Problem Definition
7.3 Mutli-Phase DMOC
7.3.1 Formulation
7.3.2 Multi-Phase Strategy
7.4 Quadrotor Application Example
7.4.1 Quadrotor Model
7.5 Numerical Results
7.5.1 Trajectory Generation
7.6 Summary
Chapter 8 Conclusion and Future Work
8.1 Conclusion
8.2 Future Work
References
Appendix A NTG program for a glider in a B-spline ocean model
Appendix B NTG program for a JPL Aerobot
Appendix C DMOC program for a glider in a B-spline ocean model
Appendix D DMOC program for a JPL Aerobot
Appendix E MATLAB program for generating ODE45 trajectories
Appendix F Program to obtain realtime coordiates of a draganflyer
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