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论文:2012,Vol:30,Issue(6):874-878 |
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引用本文： |
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王怿, 祝小平, 周洲. 一种基于Clothoid曲线的无人机路径规划算法[J]. 西北工业大学 |
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Wang Yi, Zhu Xiaoping, Zhou Zhou. A Better Path Planning Algorithm Based on Clothoid Curves for Unmanned Aerial Vehicles (UAVs)[J]. Northwestern polytechnical university |
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| 一种基于Clothoid曲线的无人机路径规划算法 |
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| 王怿1, 祝小平2, 周洲1 |
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1. 西北工业大学 无人机特种技术重点实验室, 陕西 西安 710065;
2. 西北工业大学 无人机研究所, 陕西 西安 710065 |
| 摘要: |
| 提出了一种新的基于Clothoid曲线的无人机复合路径规划算法。该算法考虑了无人机在起点和目标点的方向以及无人机转弯半径的约束,能够在任意起止点位置和方向下得到更短的曲率连续的便于无人机飞行控制跟踪实现的Clothoid复合路径。与现有的基于微分几何的迭代算法相比,该算法迭代简单在给定范围内选择迭代初值,可以得到惟一解。 |
| 关键词:
路径规划
Clothoid曲线
复合路径
Dubins路径
微分几何
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| A Better Path Planning Algorithm Based on Clothoid Curves for Unmanned Aerial Vehicles (UAVs) |
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| Wang Yi1, Zhu Xiaoping2, Zhou Zhou1 |
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1. Science and Technology on UAV Laboratory at Northwestern Polytechnical University, Xi'an 710072, China;
2. UAV Research Institute, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| A new algorithm producing Clothoid composite path is proposed in this paper. A shorter path with con-tinuous curvature which is easy to follow for UAVs can be obtained by this algorithm in any start and finish poses,with the constraints of the start and finish poses and the turning radius of UAV taken into consideration. Sections 1through 3 of the full paper explain and evaluate the path planning algorithm mentioned in the title, which we believeis better than the existing differential geometry algorithm. The core of sections 1 through 3 consists of: (1) section1 briefs Clothoid curve; (2) section 2 explains our path planning algorithm; for convenience,it is divided into twosubsections (2. 1 and 2. 2); Figs. 1 and 2 are worth noticing; (3) section 3 evaluates our path planning algo-rithm; simulation results are presented in Figs. 3 through 5; the simulation results and their analysis show prelimi-narily that,compared with the differential geometry algorithm,the proposed iteration algorithm is indeed simplerand the nonlinear equation has a unique solution by choosing the starting value in the starting interval. |
| Key words:
algorithms
computer simulation
design
flowcharting
iterative methods
trajectories
unmanned aerial vehicles ( UAV);Clothoid curves
composite path
differential geometry
Dubins path
path planning
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| 收稿日期: 2011-12-16
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 王怿(1985-)，女，西北工业大学博士研究生，主要从事多无人机协同路径规划、导航与控制等的研究。
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| 相关功能 |
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| 作者相关文章 |
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| 王怿 在本刊中的所有文章 |
| 祝小平 在本刊中的所有文章 |
| 周洲 在本刊中的所有文章 |
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参考文献: |
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[2] Antonios Tsourdos，Brian White，Madhavan Shanmugavel.Cooperative Path Planning of Unmanned Aerial Vehicle.UnitedKingdom: John Wiley and Sons Ltd, 2011, 45-56
[3] Shanmugavel M，Tsourdos A，Zbikowski R，White B A.3D Dubins Sets Based Coordinated Path Planning for Swarm of UAVs．AIAA-2006-6211
[4] Andrei M Shkel，Vladimir Lumelsky.Classification of the Dubins Set.Robotics and Autonomous Systems, 2001, 34: 179-202
[5] Brandse J，Mulder M，van Paassen M M.Clothoid-Augmented Trajectories for Perspective Flight Path Displays.The Interna-tional Journal of Aviation Psychology, 2007, 17(1): 1-29
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[7] Wang L Z，Miura K T，Nakamae E，et al.An Approximation Approach of the Clothoid Curve Defined in the Interval[0, π/2] and Its Offset by Free-Form Curves.Computer Aided Design, 2001, 33: 1049-1058
[8] Meek D S，Walton D J.A Note on Finding Clothoids.Journal of Computational and Applied Mathematics, 2004, 170: 433-45
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