Dual-modal trajectory planning method for compound-wing UAV leveraging differential flatness in urban environmentsOA

作者：Teng Long;Zhenlin Zhou;Jingliang Sun;Junzhi Li;Zihan Wang;Dawei Liu

作者单位：School of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,China||Key Laboratory of Dynamics and Control of Flight Vehicle of Ministry of Education,Beijing,100081,China||Beijing Institute of Technology Chongqing Innovation Center,Chongqing,401121,China||National Key Laboratory of Land and Air Based Information Perception and Control,Beijing,100081,ChinaSchool of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,ChinaSchool of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,China||Key Laboratory of Dynamics and Control of Flight Vehicle of Ministry of Education,Beijing,100081,China||Beijing Institute of Technology Chongqing Innovation Center,Chongqing,401121,ChinaSchool of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,ChinaSchool of Aerospace Engineering,Beijing Institute of Technology,Beijing,100081,ChinaResearch and Development Academy of Machinery Equipment,Beijing,100089,China

中文关键词：Compound-wing UAVDual-modal trajectory planningDifferential flatnessAnytime framework

英文关键词：Compound-wing UAVDual-modal trajectory planningDifferential flatnessAnytime framework

刊名：《防务技术》 2026 (6)

页码/页数：50-63,14

基金：This work was supported by the National Science Fund for Distinguished Young Scholars(Grant No.52425211),National Natural Science Foundation of China(Grant Nos.52372347,52272360).

DOI：10.1016/j.dt.2025.12.003