一种基于Clothoid曲线的无人机路径规划算法  

A Better Path Planning Algorithm Based on Clothoid Curves for Unmanned Aerial Vehicles(UAVs)

作　　者：王怿[1] 祝小平[2] 周洲[1] 

机构地区：[1]西北工业大学无人机特种技术重点实验室,陕西西安710065 [2]西北工业大学无人机研究所,陕西西安710065

出　　处：《西北工业大学学报》2012年第6期874-878,共5页Journal of Northwestern Polytechnical University

摘　　要：提出了一种新的基于Clothoid曲线的无人机复合路径规划算法。该算法考虑了无人机在起点和目标点的方向以及无人机转弯半径的约束,能够在任意起止点位置和方向下得到更短的曲率连续的便于无人机飞行控制跟踪实现的Clothoid复合路径。与现有的基于微分几何的迭代算法相比,该算法迭代简单在给定范围内选择迭代初值,可以得到惟一解。A new algorithm producing Clothoid composite path is proposed in this paper. A shorter path with continuous curvature which is easy to follow for UAYs can be obtained by this algorithm in any start and finish poses, with the constraints of the start and finish poses and the turning radius of UAV taken into consideration. Sections 1 through 3 of the full paper explain and evaluate the path planning algorithm mentioned in the tide, which we believe is better than the existing differential geometry algorithm. The core of sections 1 through 3 consists of： （ 1 ） section 1 briefs Clothoid curve; （2） section 2 explains our path planning subsections （2. 1 and 2. 2） ; Figs. 1 and 2 are worth noticing; rithm; simulation results are presented in Figs. 3 through 5 ; the narily that, compared with the and the nonlinear equation has algorithm; for convenience, it is divided into two （3） section 3 evaluates our path planning algo- simulation resuhs and their analysis show prelimi- differential geometry algorithm, the proposed iteration algorithm is indeed simpler a unique solution by choosing the starting value in the starting interval.

关 键 词：路径规划 Clothoid曲线 复合路径 Dubins路径 微分几何 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]