Autonomous path planning and anti-wind disturbance control of tilt-rotor aircraft in complex and dense environment

Liben  Yang; Yunfei  Xu; Jianwen  Tian; Dong  Wang

doi:10.6180/jase.202501_28(1).0007

Autonomous path planning and anti-wind disturbance control of tilt-rotor aircraft in complex and dense environment

Liben Yang¹This email address is being protected from spambots. You need JavaScript enabled to view it., Yunfei Xu¹, Jianwen Tian², and Dong Wang³

¹School of Unmanned Aerial Vehicles , Chengdu Aeronautic Polytechnic, Chengdu ,Sichuan 610100, China

²School of Automation & Electrical Engineering , Lanzhou Jiaotong University, Lanzhou,Gansu 710070, China

³510 Research Institute of the Fifth Research Institute of China Aerospace Science and Technology Group, Lanzhou,Gansu 730000, China

Received: November 7, 2023
Accepted: February 25, 2024
Publication Date: March 23, 2024

Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||https://doi.org/10.6180/jase.202501_28(1).0007

The tilt-rotor aircraft is capable of both low-speed hovering and high-speed flight, which has a larger flight envelope. Due to the coupling between the dynamic characteristics of its rotor and the aerodynamic characteristics of its fixed wing, the anti-disturbance ability of tilt-rotor aircraft is weak, the control system is complex, and its autonomous flight ability is low. As a result, it is difficult to achieve autonomous flight in complex and dense environment. The autonomous flight ability is critical to the measurement of the intelligence level of unmanned aerial vehicles (UAVs), which is the basis for UAVs to perform complex tasks. This paper proposes an autonomous motion planning and anti-wind disturbance control algorithm for the tilt-rotor aircraft, which can realize the autonomous flight of a single aircraft in a complex and dense environment, achieve real-time perception and avoidance of static and dynamic obstacles, perform estimation and compensation of wind disturbance when there is disturbance in the wind field, and realize complete autonomous motion planning and trajectory tracking of tilt-rotor aircraft in a complex and dense environment. Our work can provide a basis for the collaborative control of multiple tilt-rotor aircrafts.

Keywords: Tilt rotor aircraft; Complex and dense environment; Decoupling control; Path optimization; Wind disturbance estimation

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