基于边界归一化的低空无人机实时避撞路径规划
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摘要
小型无人机的广泛应用已引发严重的城市低空安全问题,实时避撞路径规划是提高无人机在陌生城市低空飞行安全的重要技术。针对传统Laguerre路径规划无法实时应用的问题,建立了基于单航段分解的Laguerre实时滚动规划模型。通过障碍边界归一化确保障碍物异型位置关系下的Laguerre路径的一致性,导出了单航段Laguerre最佳避撞路径规划定理。进而,提出了基于障碍边界归一化的无人机低空实时避撞路径规划方法。通过模拟城市复杂环境的规划实验表明,该方法不仅实现了陌生环境下的实时路径规划,而且所规划路径具有更好的避撞安全性。
Due to widespread application of small UAVs,serious safe problems for urban lower aerial areas have being risen. For an unknown urban area,the real-time collision avoidance route plan is the important technology for improving the UAV lower aerial flight safety. Aiming at the problem that the traditional Laguerre route planning cannot be used for real time application,a real-time rolling model for Laguerre planning based on decomposed single flight segment is firstly built in this paper. Furthermore,by obstacle boundary normalization,the consistency of Laguerre route is ensured for various position relations among obstacles,and the safest Laguerre route planning theorem for collision avoidance for single flight segment is exposed. Based on above analysis,a real-time route plan method for UAV lower aerial collision avoidance based on obstacle boundary normalization is presented. The planning tests have been done for simulating complex urban district,the testing results show that the presented route planning method can not only be applied for real-time route planning in unknown areas,but its collision avoidance safety for planned route is better than other compared methods.
Due to widespread application of small UAVs,serious safe problems for urban lower aerial areas have being risen. For an unknown urban area,the real-time collision avoidance route plan is the important technology for improving the UAV lower aerial flight safety. Aiming at the problem that the traditional Laguerre route planning cannot be used for real time application,a real-time rolling model for Laguerre planning based on decomposed single flight segment is firstly built in this paper. Furthermore,by obstacle boundary normalization,the consistency of Laguerre route is ensured for various position relations among obstacles,and the safest Laguerre route planning theorem for collision avoidance for single flight segment is exposed. Based on above analysis,a real-time route plan method for UAV lower aerial collision avoidance based on obstacle boundary normalization is presented. The planning tests have been done for simulating complex urban district,the testing results show that the presented route planning method can not only be applied for real-time route planning in unknown areas,but its collision avoidance safety for planned route is better than other compared methods.
引文
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[2]高晖,陈欣,夏云程.无人飞行器航路规划研究[J].南京航空航天大学学报,2001,33(2):135-138Gao Hui,Chen Xin,Xia Yuncheng.Study on Trajectory Plan for Unmanned Aircraft Vehicle[J].Journal of Nanjing University of Aeronautics and Astronautics,2001,33(2):135-138(in Chinese)
[3]董世友,龙国庆,祝小平.无人机航路规划的研究[J].飞行力学,2004,22(3):21-24Dong Shiyou,Long Guoqing,Zhu Xiaoping.Study on Path Planning for Unmanned Aircraft Vehicle[J].Flight Dynamics,2004,22(3):21-24(in Chinese)
[4]鲁艺,周德云.基于边缘提取的无人机航路规划方法[J].火力与指挥控制,2008,33(3):31-34Lu Yi,Zhou Deyun.Study on Path Planning for UAV Based on Edge Extraction[J].Fire Control&Command Control,2008,33(3):31-34(in Chinese)
[5]黄文刚,张怡,姜文毅,等.基于改进稀疏A*算法的无人机航路规划[J].遥测遥控,2012,33(6):12-16Huang Wengang,Zhang Yi,Jiang Wenyi,et al.UAV Path Planning Based on Improved Sparse A*Search Algorithm[J].Journal of Telemetry Tracking and Command,2012,33(6):12-16(in Chinese)
[6]Peng C,Lu X Q,Dai J Y,et al.Research of Path Planning Method Based on the Improved Voronoi Diagram[C]∥Proc of the25th Chinese Control and Decision Conference,2013:2940-2944
[7]任佳,高晓光,张艳.移动威胁情况下的无人机路径规划[J].控制理论与应用,2010,27(5):641-647Ren Jia,Gao Xiaoguang,Zhang Yan.Path Planning Based on Model Predictive Control Algorithm under Moving Threat[J].Control Theory and Applications,2010,27(5):641-647(in Chinese)
[8]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].西北工业大学学报,2012,30(6):874-878Wang Yi,Zhu Xiaoping,Zhou Zhou.A Better Path Planning Algorithm Based on Clothoid Curves for Unmanned Aerial Vehicles(Uavs)[J].Journal of Northwestern Polytechnical University,2012,30(6):874-878(in Chinese)
[9]王树磊,魏瑞轩,沈东,等.面向航路规划的Laguerre图构造算法[J].系统工程与电子技术,2013,35(3):552-556Wang Shulei,Wei Ruixuan,Shen Dong,et al.Laguerre Diagram Construction Algorithm for Path Planning[J].Systems Engineering and Electronics,2013,35(3):552-556(in Chinese)
[10]刘洋,章卫国,李广文,等.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):412-416Liu Yang,Zhang Weiguo,Li Guangwen,et al.A Multi-Path Planning Method for Unmanned Aerial Vehicle(UAV)in 3D Environment[J].Journal of Northwestern Polytechnical University,2014,32(3):412-416(in Chinese)
[11]Xu C,Duan H,Liu F.Chaotic Artificial Bee Colony Approach to Uninhabited Combat Air Vehicle(UCAV)Path Planning[J].Aerospace Science&Technology,2010,14(8):535-541
[12]魏瑞轩,许卓凡,王树磊,等,基于Laguerre图的自优化A-Star无人飞行器航路规划算法[J].系统工程与电子技术,2015(3):577-582Wei Ruixuan,Xu Zhuofan,Wang Shulei,et al.Self-Optimization A-Star Algorithm for UAV Path Planning Based on Laguerre Diagram[J].Systems Engineering and Electronics,2015(3):577-582(in Chinese)
[13]张启瑞,魏瑞轩,茹常剑,等,城市密集不规则障碍空间无人飞行器航路规划[J].控制理论与应用,2015,32(10):1407-1413Zhang Qirui,Wei Ruixuan,Ru Changjian,et al.Path Planning for Unmanned Aerial Vehicle in Urban Space Crowded with Irregular Obstacles[J].Control Theory and Applications,2015,32(10):1407-1413(in Chinese)
[14]Marina Gavrilova,Jon Rokne.On Sweep-Plane Analysis of Laguerre Verona Diagram[C]∥Proc of the 4th International Symposium on Voronoi Diagram in Science and Engineering(ISVD 2007),2007:260-264
[15]齐晓慧,黄建群,董海瑞.现代控制理论及应用[M].北京:国防工业出版社,2007Qi Xiaohui,Huang Jianqun,Dong Hairui.Modern Control Theory and Applications[M].Beijing,National Defense Industrial Press,2007(in Chinese)