华南理工大学学报(自然科学版) ›› 2022, Vol. 50 ›› Issue (6): 27-36.doi: 10.12141/j.issn.1000-565X.210452

所属专题: 2022年计算机科学与技术

• 计算机科学与技术 • 上一篇    下一篇

基于局部软约束优化的无人机航迹规划方法

陈朋江勇奇俞天纬党源杰宦若虹1   

  1. 1. 浙江工业大学计算机科学与技术学院、软件学院
    2. 浙江工业大学信息工程学院
  • 收稿日期:2021-07-16 修回日期:2021-12-16 出版日期:2022-06-25 发布日期:2021-12-31
  • 通信作者: 陈朋 (1981-),男,博士,教授,主要从事模式识别、嵌入式系统设计研究 E-mail:chenpeng@ zjut. edu. cn
  • 作者简介:陈朋 (1981-),男,博士,教授,主要从事模式识别、嵌入式系统设计研究
  • 基金资助:
    国家自然科学基金重点项目;浙江省自然科学基金

Quadrotor Trajectory Planning Method Based on Local Soft-Constrained Optimization

CHEN PengJIANG YongqiYU TianweiDANG YuanjieHUAN Ruohong1   

  1. 1. College of Computer Science and Technology,Zhejiang University of Technology,Hangzhou 310023,Zhejiang,China;
    2. College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,Zhejiang,China
  • Received:2021-07-16 Revised:2021-12-16 Online:2022-06-25 Published:2021-12-31
  • Contact: 陈朋 (1981-),男,博士,教授,主要从事模式识别、嵌入式系统设计研究 E-mail:chenpeng@ zjut. edu. cn
  • About author:陈朋 (1981-),男,博士,教授,主要从事模式识别、嵌入式系统设计研究
  • Supported by:
    National Natural Science Foundation of China;Natural Science Foundation of Zhejiang Province

摘要: 针对无人机在三维复杂场景中实现长距离航迹规划时存在效率不高的问题,本文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。该方法可分成以下两个步骤: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;其次,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,本文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。

关键词: 无人机, 航迹规划, theta*算法, 局部优化, 软约束, 贝塞尔曲线

Abstract: In order to improve the efficiency of the quadrotor long-distance trajectory planning in 3D complex scene, this paper proposes a real-time quadrotor trajectory planning method based on local soft-constrained optimization. The method can be divided into the following two steps: Firstly, the safety distance constraint is added to theta* algorithm, and the heuristic function is improved by using the turning cost to reduce the time consumption caused by quadrotor turning, and finally the initial path composed of a small number of key points is generated; Secondly, the local optimization strategy is used to optimize the segments with potential safety hazards in the initial path based on soft constraints, and the Hodograph property of Bézier curve are used for time allocation to ensure the continuity, smoothness and dynamic feasibility of the trajectory and improve the flight efficiency of quadrotor. Experimental results show that the proposed method has shorter flight distance and flight time and higher planning efficiency while ensuring the safety of quadrotor. This method can also be successfully applied to the actual quadrotor flight.

Key words: quadrotor, trajectory planning, theta* algorithm, local optimization, soft constraints, Bézier curve

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