|
|
论文:2020,Vol:38,Issue(2):238-245 |
|
|
引用本文： |
|
|
张启钱, 许卫卫, 张洪海, 李翰. 基于IOCAD的无人机避障路径规划[J]. 西北工业大学学报 |
|
|
ZHANG Qiqian, XU Weiwei, ZHANG Honghai, LI Han. The Obstacle-Avoidance Path Planning for UAV Based on IOCAD[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 基于IOCAD的无人机避障路径规划 |
|
| 张启钱, 许卫卫, 张洪海, 李翰 |
|
| 南京航空航天大学 民航学院, 江苏 南京 210016 |
| 摘要: |
| 针对复杂密集不规则障碍物环境下无人机路径规划问题，采用不规则障碍物预处理方法，建立障碍物避碰检测模型，并设计了基于不规则障碍物避碰检测（irregular obstacles collision-avoidance detection，IOCAD）的无人机路径规划算法。该算法以栅格法规划环境建模为基础，采用粗糙集思想、凸化填充法等对障碍物进行预处理，并利用射线法筛选出环境中可飞路径点，以障碍物到飞行路径距离最小为目标函数，对可飞路径段和障碍物进行相交检测与距离检测，解算出不规则障碍物环境下无人机路径。在既定的路径规划环境及无人机性能约束下，仿真结果表明：该算法能快速规划出对应避障路径，且栅格粒度大小、安全裕度值的设置对算法性能有明显影响；当栅格粒度为0.5 km，安全裕度为0.4 km时，可显著缩短航程并有效减少路径点数，验证了该算法的有效性。 |
| 关键词:
不规则障碍物避碰检测
无人机
路径规划
粗糙集思想
栅格法
凸化填充
射线法
|
|
| The Obstacle-Avoidance Path Planning for UAV Based on IOCAD |
|
| ZHANG Qiqian, XU Weiwei, ZHANG Honghai, LI Han |
|
| College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
| Abstract: |
| To plan the path for UAV flying in the complex, dense and irregular obstacles environment, this paper proposed an obstacle collision-avoidance detection model and designed an UAV path planning algorithm based on irregular obstacles collision-avoidance detection (IOCAD), which includes irregular obstacles pretreatment method. The proposed method uses the grid method to model the environment. Rough set theory and convexity filling are used to pretreat the obstacles, and the ray method is used to select the available points. The intersection detection and the distance detection are held for the obstacle to the flight path. The objective function minimizes the distance from the obstacle to the flight path to get planned paths. The simulation results show that the proposed method can effectively plan the paths with the constraints of the assumed environment and UAV performances. It is shown that the performance of the proposed method is sensitive to the grid length and safety distance. The optimized values for the grid length and safety distance are 0.5 km and 0.4 km respectively. |
| Key words:
irregular obstacle collision-avoidance detection(IOCAD)
UAV
path planning
rough set theory
grid method
convexity filling
ray method
|
|
| 收稿日期: 2019-06-06
修回日期:
|
| DOI: 10.1051/jnwpu/20203820238 |
| 基金项目: 国家自然科学基金（61573181）与南京航空航天大学研究生创新基地（实验室）开放基金（kfjj20180726）资助 |
| 通讯作者: 张洪海(1979-),南京航空航天大学教授,主要从事空中交通管理研究。E-mail:honghaizhang@nuaa.edu.cn
Email：honghaizhang@nuaa.edu.cn |
| 作者简介: 张启钱(1979-),南京航空航天大学副研究员,博士,空中交通智能化、空中交通流理论与监控技术研究。
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] ÖZALP N, SAHINGOZ O K. Optimal UAV Path Planning in a 3D Threat Environment by Using Parallel Evolutionary Algorithms[C]//International Conference on Unmanned Aircraft Systems, 2013
[2] BIRCHER A, ALEXIS K, BURRI M, et al. Structural Inspection Path Planning via Iterative Viewpoint Resampling with Application to Aerial Robotics[C]//IEEE International Conference on Robotics & Automation, 2015
[3] BIRCHER A, KAMEL M, ALEXIS K, et al. Three-Dimensional Coverage Path Planning via Viewpoint Resampling and Tour Optimization for Aerial Robots[J]. Autonomous Robots, 2015, 40(6):1-20
[4] ROBERGE V, TARBOUCHI M, LABONTE G. Comparison of Parallel Genetic Algorithm and Particle Swarm Optimization for Real-Time UAV Path Planning[J]. IEEE Trans on Industrial Informatics, 2013, 9(1):132-141
[5] 丁家如,杜昌平,赵耀,等.基于改进人工势场法的无人机路径规划算法[J].计算机应用,2016,36(1):287-290 DING Jiaru, DU Changping, ZHAO Yao, et al. Path Planning Algorithm for Unmanned Aerial Vehicles Based on Improved Artificial Potential Field[J]. Journal of Computer Applications,2016,36(1):287-290(in Chinese)
[6] TURKER T, SAHINGOZ O K, YILMAZ G. 2D Path Planning for UAVs in Radar Threatening Environment Using Simulated Annealing Algorithm[C]//International Conference on Unmanned Aircraft Systems, 2015
[7] YAO Peng, WANG Honglun. Dynamic Adaptive Ant Lion Optimizer Applied to Route Planning for Unmanned Aerial Vehicle[J]. Soft Computing, 2016, 21(18):1-14
[8] 吴海彬,林宜. 基于改进Voronoi图的移动机器人在线路径规划[J]. 中国工程机械学报,2007(1):117-121 WU Haibin, LIN Yi. Online Path Planning of Mobile Robots Based on Improved Voronoi Diagram[J]. Chinese Journal of Construction Machinery, 2007(1):117-121(in Chinese)
[9] 谢春生,李雄. 危险天气影响航路飞行区域的划设及评估[J]. 中国安全科学学报, 2010, 20(10):47 XIE Chunsheng, LI Xiong. Division and Evaluation of Flight Forbidden Area in Severe Weath[J]. China Safety Science Journal,2010, 20(10):47(in Chinese)
[10] XU Zhuofan, WEI Ruixuan, ZHOU Kai, et al. Laguerre Graph Self-Optimize Path Planning Algorithm for UAVs in Irregular Obstacle Environment[C]//Guidance, Navigation & Control Conference, 2017
[11] 贾春雪,罗琦,龚杨杨. 不规则障碍物的避障路径规划[J]. 计算机科学,2017,44(9):290-295 JIA Chunxue, LUO Qi, GONG Yangyang. Obstacle Avoidance Path Planning for Irregular Obstacles[J]. Computer Science,2017,44(9):290-295(in Chinese)
[12] 徐嘉. 二面体群作用下简单多边形的分类[J]. 计算机辅助设计与图形学学报, 2012, 24(7):896-900 XU Jia. A Classification Method of Simple Polygons Based on Dihedral Group[J]. Journal of Computer-Aided Design & Computer Graphics, 2012, 24(7):896-900(in Chinese)
[13] NICULESCU C P, ROVENTA I. Relative Convexity and Its Applications[J]. Aequationes Mathematicae, 2015, 89(5):1389-1400
[14] 翟艳,徐卫亚,张强. 点与多边形或多面体的拓扑关系判断[J]. 计算机工程与设计,2015,36(4):972-976 ZHAI Yan, XU Weiya, ZHANG Qiang. Judgment of Topological Relation between Point and Polygon or Polyhedron[J]. Computer Engineering and Design, 2015,36(4):972-976(in Chinese)
[15] MA Y, GANG Z, PERRUQUETTI W, et al. Local Path Planning for Mobile Robots Based on Intermediate Objectives[J]. Robotica, 2015, 33(4):1017-1031 |
|
|
|
相关文献: |
|
|
1．徐钊, 胡劲文, 马云红, 王曼, 赵春晖.无人机碰撞规避路径规划算法研究[J]. 西北工业大学学报, 2019,37(1): 100-106 |
|
|
2．王亮, 魏铂淞, 熊瑜, 许卓凡.基于边界归一化的低空无人机实时避撞路径规划[J]. 西北工业大学学报, 2017,35(2): 213-219 |
|
|
3．刘洋, 章卫国, 李广文, 史静平.一种三维环境中的无人机多路径规划方法[J]. 西北工业大学学报, 2014,32(3): 412-416 |
|
|
|
|
|
|
