基于计算几何的无人机避障优化问题研究
Research on UAV Obstacle Avoidance Optimization Based on Computational Geometry
申文莹 1张书畅 2葛平茹 1徐伟3
作者信息
- 1. 青岛理工大学管理工程学院,山东青岛 266520
- 2. 青岛理工大学信息与控制工程学院,山东青岛 266520
- 3. 青岛理工大学理学院,山东青岛 266520
- 折叠
摘要
为解决无人机飞行路径规划中的问题,以 2023年深圳杯数学建模C赛题给出的案例,在避开障碍物的情况下,设计2架无人机的航迹方案,使得2架无人机到达目的地的路线最优.通过无人机之间的坐标关系和计算几何建模,在此基础上建立以飞行时间最短的数学规划模型,通过仿真模拟给出结果的合理性检验说明,以期为复杂的飞行问题提供最佳的航迹方案.
Abstract
To solve the problem of unmanned aerial vehicle(UAV)flight path planning,using the case of the 2023 Shenzhen Cup Mathematical Modeling C Competition,two UAV trajectory plans were designed while avoiding obstacles,ensuring the optimal route for the two UAVs to reach their destination.Based on the coordinate relationship and computational geometry modeling between drones,a mathematical planning model with the shortest flight time is established.The rationality of the results is verified through simulation,in order to provide the best trajectory solution for complex flight problems.
关键词
无人机避障/几何图形法/数学优化/最优航迹/仿真模拟实验Key words
UAV obstacle avoidance/geometric graphic method/mathematical optimization/optimal track/simulation experiment引用本文复制引用
出版年
2024
NETL
NSTL
万方数据