速度自适应无人机安全运动规划方法
Speed-adaptive safe motion planning method for UAVs
余欣芝 1王红雨 1曹彦2
作者信息
- 1. 上海交通大学电子信息与电气工程学院,上海 200240
- 2. 上海宇航系统工程研究所,上海 201109
- 折叠
摘要
针对无人机在三维复杂环境下的飞行安全性问题,提出一种速度自适应无人机安全运动规划方法.首先,前端路径搜索阶段在原有A*搜索算法的基础上引入方向性破坏因子,减少搜索过程扩展节点冗余,提升搜索速度.然后,在后端轨迹规划阶段设计安全威胁因子,考虑无人机运动速度与障碍物的关系,结合B样条曲线约束实现无人机速度自适应调整.最后,对轨迹时间分配进行调整,保证所得轨迹运动学可行.仿真结果表明,所提方法规划时间减少了 70.218％,飞行成本降低了 76.166％,验证了所提方法的有效性.
Abstract
To address the safety issues of unmanned aerial vehicles(UAVs)flying in 3D complex environments,this paper proposes a speed-adaptive UAV safety motion planning method.Firstly,in the front-end path search stage,a directional disruption factor is introduced into A* algorithm to re-duce redundant expansion nodes during the search process and improve search efficiency.Secondly,in the back-end trajectory planning stage,a safety threat factor is designed to consider the relation-ship between the magnitude and direction of UAV motion velocity and obstacles.This factor is com-bined with B-spline curve constraints to achieve adaptive velocity adjustment of UAVs.Furthermore,the time allocation of the trajectory is adjusted to ensure the kinematic feasibility of the obtained traj-ectory.Simulation results show that the proposed method demonstrates a 70.218％reduction in planning time and a 76.166％decrease in required flight cost,thus validating the effectiveness of the proposed approach.
关键词
无人机/运动规划/速度自适应/B样条曲线/启发式函数Key words
UAV/motion planning/speed-adaptive/B-spline curve/heuristic function引用本文复制引用
出版年
2024
NETL
NSTL
万方数据