一种基于几何关系的无人机航迹规划方法
An approach to UAV path planning based on geometry
张敬 1李彤 1杨钧 1朱得糠 1张士峰2
作者信息
- 1. 国防科技创新研究院无人系统技术研究中心,北京 100071
- 2. 国防科技大学空天科学学院,长沙 410073
- 折叠
摘要
为适应现有飞控算力,提高计算效率,提出一种基于几何关系的无人机航迹规划方法.该方法通过计算几何和向量操作快速解决二维区域避障问题,避免全局地图栅格化表示问题,有效减小计算时间,并且保证优化水平,规划时间能够达到毫秒级.同时,该方法支持障碍区域实时上传,在线规划动态计算,并且考虑了无人机转弯半径,无需对规划航迹进行平滑.数值仿真和飞行试验对比充分验证了该方法的可行性和有效性,规划航迹达到了优化水平.
Abstract
In order to adapt to the existing flight control computing power and improve the computing efficiency,an UAV path planning algorithm based on geometrics is proposed.This method could instantly solve the obstacle avoidance problem in two-dimensional regions through computational geometry and vector operations,thus able to avoid the global map grid representation problem and to significantly reduce the computation time,meanwhile ensuring the optimization level.The planning time can reach the millisecond level.Moreover,this method supports real-time upload of obstacle region data and online dynamic planning computation.Since the turning radius of UAV is taken into consideration,the planned path smoothing is not required in this method.The feasibility and effectiveness of the method are fully validated by numerical simulation and flight test comparison with the planned path reaching the optimal level.
关键词
无人机/航迹规划/避障/计算几何/飞行控制Key words
unmanned aerial vehicle/path planning/obstacle avoidance/computational geometry/flight control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据