基于不规则障碍物环境下无人机的改进几何路径规划算法

随着无人机应用环境的多样化,在复杂环境中寻找无碰撞路径是非常重要的。传统的路径规划算法可以找到可行的路径,但它们在时间效率和路径长度之间没有很好的平衡,传统的几何算法只能避免特殊形状的障碍物。提出了一种改进的几何路径规划算法,使无人机能够在复杂的环境中避开任意形状的障碍物,找到较短的路径。首先,针对不规则障碍物,建立了凸多边形覆盖模型。然后解决了传统几何算法陷入局部最优解的缺点。提出了从相邻路径段生成无碰撞路径的二次规划思想,并针对该方法提出了一种新的安全阀值策略。最后,为了验证算法的性能,在不同的复杂环境下进行了仿真,并从几个方面对所提出的算法与A*算法进行了对比分析。

An Improved Geometrical Path Planning Algorithmfor UAV in Irregular-obstacle Environment

With the diversification of UAV environment, it is very important to find a collision-free path in complex environment. Traditional path planning algorithms can find feasible paths, but they do not have a good balance between time efficiency and path length. Traditional geometric algorithms can only avoid obstacles with special shapes. An improved geometric path planning algorithm is proposed, which can make UAV avoid obstacles of arbitrary shape in complex environment and find shorter paths. First, for irregular obstacles, a convex polygon model is established. Then, the heuristic method is used to select the path segment, which solves the disadvantage of local optimal solution in traditional geometric algorithm. And the idea of quadratic programming is proposed to generate collision-free paths from adjacent paths, and a new security threshold strategy is proposed for this method. Finally, in order to verify theperformance of the algorithm, simulations are carried out in different complex environments and the proposed algorithms are compared with A* algorithm from several aspects.