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Trajectory Real-time Optimization Based on Variable Node Inverse Dynamics in the Virtual Domain
Received date: 2013-01-25
Revised date: 2013-08-15
Online published: 2013-12-23
To solve the problem of low utilization rate in inverse dynamics in the virtual domain (IDVD) trajectory optimization caused by node distribution in equal distances, a real time variable node IDVD trajectory optimization algorithm is presented in this paper. Based on the variable upper limit integral of the overload on the virtual arc the algorithm transcribes fixed node and fixed step IDVD to variable node and variable step IDVD by performing optimization twice. A comparison with two examples using IDVD in the interception of ballistic missile trajectory at the ascent phase shows that, if the number of nodes is equal, the variable node IDVD reaches lower standard deviations of error of about 20% at the x axis, y axis, z axis respectivlely, and cuts the optimization time by 20% approximately. Results show that the variable node IDVD is able to distribute nodes adaptively according to the size of the curvature of the virtual arc, which improves the utilization rate of nodes, enhances trajectory calculation accuracy and reduces online optimization time.
YAN Liang , LI Yuan , ZHAO Jiguang , DU Xiaoping . Trajectory Real-time Optimization Based on Variable Node Inverse Dynamics in the Virtual Domain[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013 , 34(12) : 2794 -2803 . DOI: 10.7527/S1000-6893.2013.0360
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