摘要
针对多旋翼无人机在陌生城市低空安全飞行的需要,研究了适合于陌生环境应用的在线航路规划方法。在分析传统Laguerre图航路规划原理及其航路安全性优势的基础上,首先导出了面向单个拟飞通道的Laguerre规划航路的特性。进而,通过最小化航路安全误差,建立了单个航段的最佳安全航路。在上述研究的基础上,提出了面向陌生环境的在线滚动式Laguerre航路规划方法。设计了模拟城市建筑物分布的仿真飞行场景,并通过对比分析不同规划方法对于仿真场景的航路规划结果,显示了本文算法在航路规划问题中避撞安全性方面的优势。
Aiming at the safe flying requirement for multi-rotor UAV in urban lower aerial regions,a method of online route planning for unknown urban areas are studied in this paper. By demonstrating the route planning principle of the traditional Laguerre diagram method and advantages on route safety,the characteristic of Laguerre route planning for an independent flight aisle is firstly studied. And then by minimizing the route＇s collision avoidance safe error,the safest route is built for a single flying-phrase channel. Based on above researches,an online rolling Laguerre method for route planning is presented for unknown urban lower flying areas. A simulation flight testing scenario is designed by referring a real buildings distribution on an urban community. By comparing the route planning results of various planning methods for the same simulation flight scenes,the advantages on route collision avoidance and online route planning have been shown for the method mentioned in this paper.
出处
《飞行力学》
CSCD
北大核心
2017年第1期57-60,65,共5页
Flight Dynamics
基金
国家自然科学基金资助(61573373)
