摘要
针对无人机在三维复杂场景中自主规划航迹存在实时性和安全性不高的问题,本文提出了一种基于关键航点的实时无人机航迹规划方法.该方法可分成以下两个阶段:首先,改进A*算法的启发函数,使其更适应无人机的三维运动特征,基于栅格地图用改进后的A*算法寻找无碰撞的栅格路径,并利用梯度信息筛选关键航点,生成初始路径;其次,优化碰撞代价函数,并显式地引入无人机动力可行约束,构建二次规划模型来优化初始路径,确保航迹的安全、平滑、适合无人机飞行.实验结果表明,本文方法在保证实时性的同时具有更短的航迹长度和更高的成功率,在障碍物密度小于0.5个/m^2的情况下,达到了100%的成功率.
In order to improve the real-time and safety of the quadrotor autonomous planning trajectory in 3D complex scene,a realtime quadrotor trajectory planning algorithm based on key waypoints is proposed.It can be divided into the following two stages:Firstly,the heuristic function of the A*algorithm is improved to make it more suitable for the 3D motion characteristics of the quadrotor,and the improved A*algorithm is used to find the collision-free grid path based on the grid map,and the gradient information is used to screen the key waypoints to generate the initial path.Secondly,the collision cost function is optimized,and the quadrotor dynamic feasible constraint is introduced explicitly.The quadratic programming model is constructed to optimize the initial path,which ensures the safety,smoothness and suitability for the quadrotor flight.The experimental results show that the proposed algorithm has a shorter trajectory length and a higher success rate while ensuring real-time performance,and achieves 100%success rate when the obstacle density is less than 0.5 per square meter.
作者
陈朋
汤粤生
俞天纬
江勇奇
CHEN Peng;TANG Yue-sheng;YU Tian-wei;JIANG Yong-qi(College of Computer Science and Technology,Zhejiang University of Technology,Hangzhou 310023,China;College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)
出处
《小型微型计算机系统》
CSCD
北大核心
2020年第9期1800-1805,共6页
Journal of Chinese Computer Systems
基金
国家自然科学基金项目(U1909203)资助
浙江省属高校基本科研业务费专项资金项目(RF-C2019001)资助。
