基于空-地协同的轨迹规划方法  

A Trajectory Planning Method Based on Air-ground Cooperation

作　　者：黄肖肖[1] 曹凯[1] 王杰[1] 

机构地区：[1]山东理工大学交通学院,山东淄博255049

出　　处：《公路交通科技》2016年第11期134-139,145,共7页Journal of Highway and Transportation Research and Development

基　　金：国家自然科学基金项目(61573009)

摘　　要：针对车载传感器感知全局环境信息能力不足以及车辆导航规划轨迹的平滑性、安全性的问题,提出一种空-地协同的轨迹规划方法。为此,构筑了无人机全局信息采集平台及地面车辆信息处理平台,其中无人机从空中采集广域地面环境图像信息,并实时回传给地面车辆信息处理平台,采用图像拼接算法构筑全景地理信息图。为了实现车辆导航规划轨迹的平滑性和安全性,提出引入FM^2算法计算全局最佳轨迹。仿真结果表明:空-地协同能够大幅提升地面车辆对全局环境信息的掌控能力,而且FM^2算法保证了全局规划轨迹的平滑性和安全性。In view of the problems of insufficient ability of vehicular sensor to perceive the global environment information and the smoothness and safety of vehicle navigation planning trajectory, a trajectory planning method based on air-ground cooperation is proposed. To this end, the UAV global information collection platform and the ground vehicle information processing platform are constructed, where UAV collects wide-area ground environment image information from the air and passes back to the information processing platform on the ground vehicle for constructing panoramic map of geographic information with an image mosaic algorithm. In order to realize the smoothness and the safety of vehicle navigation planning trajectory, a FM2 algorithm is proposed to calculate the global optimal trajectory. The simulation result shows that the air-ground coordination can significantly improve the control ability of ground vehicle to global environmental information, and the FM2 algorithm can guarantee the smoothness and the safety of the planned global trajectory.

关 键 词：智能运输系统 轨迹规划 FM2算法 空-地协同 智能车辆 无人机 

分 类 号：U463.2[机械工程—车辆工程] TP18[交通运输工程—载运工具运用工程]