改进JPS的无人机路径规划研究  

Improved UAV path planning study for JPS

作　　者：唐嘉宁 闫搏远 陈云浩 颜衡 程俊涛 TANG Jianing;YAN Boyuan;CHEN Yunhao;YAN Heng;CHENG Juntao(School of Electrical and Information Engineering,Yunnan Minzu University,Kunming 650000,China;Unmanned Autonomous Systems Institute,Yunnan Minzu University,Kunming 650000,China)

机构地区：[1]云南民族大学电气信息工程学院,昆明650000 [2]云南民族大学无人自主系统研究院,昆明650000

出　　处：《重庆理工大学学报（自然科学）》2024年第1期328-337,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(61963038,62063035)。

摘　　要：针对传统JPS算法在路径规划时虽然会减少扩展节点的数量,但会使障碍物区域的扩展节点数目增加这一问题,提出了一种改进跳点搜索规则的S-JPS算法。该算法利用基于距离和方向的启发式函数,相比JPS算法可以更准确地描述从当前点到目标点的估计代价,从而减少时间代价、路径代价和拜访节点个数。对于规划出的路径不平滑的问题,提出了基于Bezier曲线和直线混合的轨迹优化方法,将生成的轨迹进行平滑处理,使它的曲率更加连续。仿真实验结果表明,S-JPS算法减少了大量的拜访节点,通过新的跳点规则提高了路径规划的速度。最后,将S-JPS算法应用在自主搭建的无人机上进行实验,在同一规划任务下,S-JPS算法比JPS算法路径规划时间代价减少98.6%,路径代价减少81.1%,拜访节点个数减少99.7%,可以满足无人机在执行飞行任务时对路径规划实时性要求较高的需求。Although the traditional JPS algorithm reduces the number of expansion nodes during path planning,it needs to find a jump point for each node it generates,which thus increases the number of expansion nodes in the obstacle area,resulting in the time cost of generating nodes and the path cost.And the cost of visiting nodes is higher.To address this problem,this paper proposes an S-JPS algorithm that improves the jump search rules.On the heuristic function:This algorithm introduces distance and direction information.The specific operation is:First multiply the distance between the starting point and the end point by the weight representing the distance information,then multiply the cosine value of the direction of the starting point and the end point by the weight representing the direction information,and finally linearly combine the above two steps.The cost of generating a large number of nodes is reduced.The JPS algorithm uses Manhattan distance or Euclidean distance to estimate the distance from the node to the target node to evaluate the priority of the node and determine the search direction.In contrast,the S-JPS algorithm more accurately describes the distance from the current point to the target.The estimated cost of the point,thereby reduces the time cost,path cost and number of visited nodes.Regarding the node update rules:In order to overcome the difficulty of back-end trajectory optimization,the inflection points have been trimmed to further improve the smoothness of the path.The specific operations are:For all extended nodes(a 0,a 1,…,a N),if the slopes of the straight lines a n-1 a n and a na n+1 formed by adjacent nodes are different,connect nodes a n-1 and a n+1.If the straight line a n-1 a n+1 does not pass through the obstacle,discard the original a n-1 a n and a na n+1,and retain the line segment a n-1 a n+1.The new path obtained by analogy is the path obtained under the node update rule.For the problem that the path planned in the back-end trajectory optimization is not smooth,a trajectory opti

关 键 词：跳点搜索算法 BEZIER曲线 路径规划 轨迹优化 无人机平台 

分 类 号：V249[航空宇航科学与技术—飞行器设计]