摘要
针对三维复杂场景中无人机长距离航迹规划效率不高的问题,提出了一种基于局部软约束优化的实时无人机航迹规划方法。该方法首先在Theta^(*)算法的基础上加入安全距离约束,同时利用转弯代价改进启发函数来减少无人机转弯所带来的时间消耗,最终生成由少量关键点组成的初始路径;然后采用局部优化策略对初始路径中存在安全隐患的片段进行软约束优化,并利用贝塞尔曲线的速度特性进行时间分配,确保航迹的连续、平滑和动态可行性,以及提升无人机的飞行效率。实验结果表明,文中方法在保证无人机安全的同时具有更短的飞行距离和飞行时间,以及更好的规划效率,并且在实际的四旋翼飞行中得到验证。
To improve the long-distance trajectory planning efficiency of unmanned aerial vehicles(UAV)in 3D complex scene,the study proposed a real-time UAV trajectory planning method based on local soft-constrained optimization.Firstly,the safety distance constraint was added to Theta^(*) algorithm,and the heuristic function was improved by using the turning cost to reduce the time consumption caused by UAV turning,and finally the initial path composed of a small number of key points was generated.Then,the segments with potential safety hazards in the initial path were optimized by the local optimization strategy based on soft constraints.The Hodograph property of Bézier curve was used for time allocation to ensure the continuity,smoothness and dynamic feasibility of the trajectory and to improve the UAV flight efficiency.Experimental results show that the proposed method has the advantages of shorter flight distance and less flight time,and higher planning efficiency while ensuring the safety of quadrotor.This method was successfully tested through the actual quadrotor flight.
作者
陈朋
江勇奇
俞天纬
党源杰
宦若虹
CHEN Peng;JIANG Yongqi;YU Tianwei;DANG Yuanjie;HUAN Ruohong(College of Computer Science and Technology,Zhejiang University of Technology,Hangzhou 310023,Zhejiang,China;College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,Zhejiang,China)
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2022年第6期27-36,共10页
Journal of South China University of Technology(Natural Science Edition)
基金
NSFC-浙江两化融合联合基金资助项目(U1909203)
国家自然科学基金重点项目(62036009)
浙江省自然科学基金资助项目(LY19F020032)。
关键词
无人机
四旋翼
航迹规划
Theta^(*)算法
局部软约束优化
避碰
unmanned aerial vehicle
quadrotor
trajectory planning
Theta^(*) algorithm
local soft-constrained optimization
collision avoidance
