无人机专业英语配套_3 Chap1 UAV——Autonomy and UAV Functions.pptVIP

BasicprinciplesThemostcommoncontrolmechanismusedintheselayersisthePIDcontrollerwhichcanbeusedtoachievehover[?h?v?(r)]foraquadcopterbyusingdatafromtheIMUtocalculatepreciseinputsfortheelectronicspeedcontrollersandmotors.在这些层最常见的控制机制是PID控制，它能用来实现四旋翼无人机的悬停，是通过使用来自IMU的数据来计算电子调速器和电机的控制输入。Part1----AutonomyExamplesofmid-layeralgorithms:Pathplanning:determininganoptimalpathforvehicletofollowwhilemeetingmissionobjectivesandconstraints,suchasobstaclesorfuelrequirements.路径规划：在满足任务目标或者条件限制时(如障碍物或者燃料需求)，决定一条最优路径。Trajectorygeneration(motionplanning):determiningcontrolmaneuverstotakeinordertofollowagivenpathortogofromonelocationtoanother.轨迹生成：为了跟随给定路径或者从一个位置到另一位置而确定的机动控制。Part1----AutonomyExamplesofmid-layeralgorithms:Trajectoryregulation:constrainingavehiclewithinsometolerancetoatrajectory.轨迹调节：限制无人机跟踪一轨迹，并在允许的误差范围内。EvolvedUAVhierarchicaltaskplannersusemethodslikestatetreesearchesorgenetic[d??net?k]algorithms.发展的无人机高级任务计划使用像状态树搜寻或者遗传算法的方法。Part1----AutonomyAutonomyfeaturesUAVmanufacturersoftenbuildinspecificautonomousoperations,suchas:Self-level:Theaircraftstabilizesitsaltitude.Hover:attitudestabilizationonthepitch,rollandyawaxes.ThelattercanbeachievedbysensingGNSScoordinates,calledalonepositionhold.Care-free:automaticrollandyawcontrolwhilemovinghorizontallyPart1----Autonomy无人机制造商经常会赋予无人机特定的自动操作，如：机身高度保持：无人机稳定在设定的高度悬停：在三个轴上的姿态稳定。后者能通过获得GNSS坐标实现，也称作单独位置保持。航向锁定：当水平移动时进行自动滚转和偏航控制。Take-offandlandingFailsafe:automaticallylandinguponlossofcontrolsignalReturn-to-homeFollow-meGPSwaypointnavigationOrbitaroundanobjectPre-programmedtrickssuchasrollsandloopsPart1----AutonomyFullautonomyisavailableforspecifictasks,suchasairbornerefuelingorground-basedbatteryswitching