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Aiming at the energy management problem of unmanned aerial vehicles (UAVs) in the terminal area energy management (TAEM) phase, a real-time online trajectory planning and guidance strategy based on judging energy is proposed. The trajectory planning strategy estimates the flight profile online in real time by judging the energy and changing the radius of the heading alignment circle. In addition, guidance instructions are also obtained at once. In the S-turn stage, the lateral guidance adopts a closed loop control mode with a fixed bank angle. In the remaining stage, the lateral guidance adopts a closed loop control mode for tracking the azimuth angle. In all stages, the longitudinal guidance adopts a closed loop control mode for tracking the flight path angle and flight height. The trajectory planning strategy is able to quickly generate a reference trajectory for testing cases with large variations not only in the initial energy but also in the energy of the flight process. The simulation results show that the proposed trajectory planning and guidance strategy can effectively manage a UAV's energy in the TAEM phase, ensuring that the UAV lands safely.

Real-time online trajectory planning and guidance for terminal area energy management of unmanned aerial vehicle