基于改进PH曲线的无人机航迹规划  

Planning of UAV Trajectory Based on Improved PH Curves

作　　者：杨力[1] 丘森辉[1] 周伟东 罗晓曙[1] YANG Li;QIU Sen - hui;ZHOU Wei - dong;LUO Xiao - shu(College of Electronic Engineering,Guangxi Normal University,Guilin Guangxi 541000,China)

机构地区：[1]广西师范大学电子工程学院,广西桂林541000

出　　处：《计算机仿真》2018年第8期51-55,288,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(11262004);广西多源信息挖掘与安全重点实验室开放基金资助项目(MIMS/5-06);广西信息科学实验室中心基金资助项目(KA1430);广西师范大学创新项目(XYCSZ2017051)

摘　　要：无人机航迹规划是无人机关键技术之一。针对传统算法未考虑初、末速度方向的问题,本文首先研究基于Pythagorean Hodograph(PH)曲线规划无人机航迹的方法,然后提出了一种基于改进Pythagorean Hodograph(PH)曲线和RRT(Rapidlyexploring Random Tree)融合算法的无人机航迹规划方法,将经典PH曲线拐点处角度单独定义,在离线规划时设置控制点b2和b3为新的起点start1和新的终点goal1且运用RRT算法规划得到航迹集进而选择最优的一条作为选择航迹,并结合平滑算子与滑窗滤波的航迹平滑处理,实现无人机在多障碍物情况下的航迹规划,并进行了仿真。仿真结果表明:用本文改进的算法,不仅能够充分考虑初、末速度方向,同时缩短航迹航程,成功躲避障碍物,使得规划航迹更加贴近于实际飞行航迹。因此本文的研究成果对于无人机航迹规划具有一定的参考价值。UAV trajectory planning is one of the crucial technologies of UAVs. In this paper, we firstly studied the method of planning the UAV trajectory which was based on the Pythagorean Hodograph （PH） curve, and then proposed a method based on the improved Pythagorean Hodograph （PH） curve and Rapidly - exploring Random Tree （RRT） fusion algorithm. In addition, the control point b2 and b3 were set as the new starting point startl and the new end goall in the off-line planning when the RRT algorithm was used to obtain the track set. The optimal one was selected as the selection track, in this way, it can be realized the track planning of UAV in multi - obstacle situation, and the simulation experiment was carried out. The simulation results show that the proposed algorithm can not only fully consider the initial and final velocity directions, but also shorten the flight path and successfully avoid the obstacle, so that the planning track is closer to the actual flight path. Therefore, the research results of this paper are of much reference value for UAV trajectory planning.

关 键 词：无人机航迹规划 初 末速度方向 仿真 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]