无末姿态要求下Reeds-Shepp车的最优路径导航
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摘要
Reeds-Shepp路径的计算受末姿态的影响,无法直接在无末姿态要求的导航场景中应用。文章对Reeds-Shepp路径的规划应用进行研究,提出在无姿态要求下Reeds-Shepp车的最优路径导航方法,以及对应控制方案的生成规则。仿真数据证明了其在各种情形下的最优特性。利用该路径对导航方案进行设计能够有效降低自动驾驶车辆的行驶时间与运行成本,可广泛应用于军事工业以及民用的无人车、无人机、无人船等自动驾驶交通工具的导航系统,以实现控制其按最优路径行驶的目的。
Aimed at the problems that the calculation of the Reeds-Shepp path is influenced by the final attitude, and can not be used directly in the navigation scene without goal direction requirements, this paper proposes an optimal path navigation scheme of Reeds-Shepp and the generation rules of control schemes. Its optimal characteristics in various environmental conditions are verified by the simulation. This path can be utilized for designing the navigation scheme, can effectively reduce the driving time and operation cost of the automatic driving vehicle, in one word, can be widely used in the navigation system of automatic driving vehicles such as UGV, UAV, USV and so on, realizing the purpose of driving them along with the optimal path under control.
Aimed at the problems that the calculation of the Reeds-Shepp path is influenced by the final attitude, and can not be used directly in the navigation scene without goal direction requirements, this paper proposes an optimal path navigation scheme of Reeds-Shepp and the generation rules of control schemes. Its optimal characteristics in various environmental conditions are verified by the simulation. This path can be utilized for designing the navigation scheme, can effectively reduce the driving time and operation cost of the automatic driving vehicle, in one word, can be widely used in the navigation system of automatic driving vehicles such as UGV, UAV, USV and so on, realizing the purpose of driving them along with the optimal path under control.
引文
[1] 万路军, 姚佩阳, 孙鹏, 等. 有人-无人作战智能体任务联盟形成策略方法[J]. 空军工程大学学报(自然科学版), 2013, 14(3):10-14. WAN L J, YAO P Y, SUN P, et al. Strategy of Manned-unmanned Combat Agents Task Coalition Formation[J]. Journal of Air Force Engineering University (Natural Science Edition), 2013, 14(3):10-14. (in Chinese)
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[11] DING X C, RAHMANI A R, EGERSTEDT M. Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination[J]. IEEE Transactions on Robotics, 2010, 26(2):256-268.
[12] LEE S, CHO A, KEE C. Integrated Waypoint Path Generation and Following of an Unmanned Aerial Vehicle[J]. Aircraft Engineering & Aerospace Technology, 2010, 82(5): 296-304.
[13] TECHY L, WOOLSEY C A. Minimum-Time Path Planning for Unmanned Aerial Vehicles in Steady Uniform Winds[J]. Journal of Guidance, Control, and Dynamics, 2009, 32(6):1736-1746.
[14] 关震宇, 杨东晓, 李杰, 等. 基于Dubins路径的无人机避障规划算法[J]. 北京理工大学学报, 2014, 34(6):570-575. GUAN Z Y, YANG D X, LI J, et al. Obstacle Avoidance Planning Algorithm for UAV Based on Dubins Path[J]. Transactions of Beijing Institute of Technology, 2014, 34(6):570-575. (in Chinese)
[15] KIM H, KIM D, SHIN J U, et al. Angular Rate-Constrained Path Planning Algorithm for Unmanned Surface Vehicles[J]. Ocean Engineering, 2014, 84(4):37-44.
[16] 胡蔷, 高立娥, 刘卫东, 等. 基于Dubins曲线和改进A*算法的AUV路径规划方法[J]. 计算机测量与控制, 2016, 24(8):259-262. HU Q, GAO L E, LIU W D, et al. AUV Path Planning Method Based on Improved A* Search and Dubins Curve[J]. Computer Measurement & Control, 2016, 24(8):259-262. (in Chinese)
[17] LAVALLE S M. Planning Algorithms[M]. Cambridge: Cambridge University Press, 2006.
[2] 许晓平, 周洲, 范锐军, 等. 基于察/打一体无人机平台的导弹发射模拟[J]. 空军工程大学学报(自然科学版), 2010, 11(5):11-15. XU X P, ZHOU Z, FAN R J, et al. Numerical Simulation of Missile Launching from the R/S UAV[J]. Journal of Air Force Engineering University (Natural Science Edition), 2010, 11(5):11-5. (in Chinese)
[3] PARK J, KIM J, SON N S. Passive Target Tracking of Marine Traffic Ships Using Onboard Monocular Camera for Unmanned Surface Vessel[J]. Electronics Letters, 2015, 51(13):987-989.
[4] MANLEY J E. Unmanned Surface Vehicles, 15 Years of Development[C]// OCEANS 2008. Quebec City, IEEE, 2008:1-4.
[5] DUBINS L E. On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents[J]. American Journal of Mathematics, 1957, 79(3):497-516.
[6] REEDS J A, SHEPP L A. Optimal Paths for a Car that Goes Both Forward and Backward[J]. Pacific Journal of Mathematics, 1990, 145(2):367-393.
[7] LEE S K, LEE S, NAM C, et al. Local Path Planning Scheme for Car-Like Vehicle's Shortest Turning Motion Using Geometric Analysis[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei:IEEE, 2010:4761-4768.
[8] SUSSMANN H J. Shortest Paths for the Reeds-Shepp Car: A Worked out Example of the Use of Geometric Techniques in Nonlinear Optimal Control[Z]. SYCON 9110,1991.
[9] DU X, LI X, LIU D, et al. Path Planning for Autonomous Vehicles in Complicated Environments[C]// IEEE International Conference on Vehicular Electronics and Safety. Beijing: IEEE, 2016:1-7.
[10] CHITSAZ H, LAVALLE S M. Time-Optimal Paths for a Dubins Airplane[C]//2007 46th IEEE Conference on Decision and Control. New Orleans, LA: IEEE, 2007:2379-2384.
[11] DING X C, RAHMANI A R, EGERSTEDT M. Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination[J]. IEEE Transactions on Robotics, 2010, 26(2):256-268.
[12] LEE S, CHO A, KEE C. Integrated Waypoint Path Generation and Following of an Unmanned Aerial Vehicle[J]. Aircraft Engineering & Aerospace Technology, 2010, 82(5): 296-304.
[13] TECHY L, WOOLSEY C A. Minimum-Time Path Planning for Unmanned Aerial Vehicles in Steady Uniform Winds[J]. Journal of Guidance, Control, and Dynamics, 2009, 32(6):1736-1746.
[14] 关震宇, 杨东晓, 李杰, 等. 基于Dubins路径的无人机避障规划算法[J]. 北京理工大学学报, 2014, 34(6):570-575. GUAN Z Y, YANG D X, LI J, et al. Obstacle Avoidance Planning Algorithm for UAV Based on Dubins Path[J]. Transactions of Beijing Institute of Technology, 2014, 34(6):570-575. (in Chinese)
[15] KIM H, KIM D, SHIN J U, et al. Angular Rate-Constrained Path Planning Algorithm for Unmanned Surface Vehicles[J]. Ocean Engineering, 2014, 84(4):37-44.
[16] 胡蔷, 高立娥, 刘卫东, 等. 基于Dubins曲线和改进A*算法的AUV路径规划方法[J]. 计算机测量与控制, 2016, 24(8):259-262. HU Q, GAO L E, LIU W D, et al. AUV Path Planning Method Based on Improved A* Search and Dubins Curve[J]. Computer Measurement & Control, 2016, 24(8):259-262. (in Chinese)
[17] LAVALLE S M. Planning Algorithms[M]. Cambridge: Cambridge University Press, 2006.