一种基于Clothoid曲线的无人机路径规划算法
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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。
A new algorithm producing Clothoid composite path is proposed in this paper.A shorter path with continuous 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 1 through 3 of the full paper explain and evaluate the path planning algorithm mentioned in the title,which we believe is better than the existing differential geometry algorithm.The core of sections 1 through 3 consists of:(1) section 1 briefs Clothoid curve;(2) section 2 explains our path planning algorithm;for convenience,it is divided into two subsections(2.1 and 2.2);Figs.1 and 2 are worth noticing;(3) section 3 evaluates our path planning algorithm;simulation results are presented in Figs.3 through 5;the simulation results and their analysis show preliminarily that,compared with the differential geometry algorithm,the proposed iteration algorithm is indeed simpler and the nonlinear equation has a unique solution by choosing the starting value in the starting interval.
A new algorithm producing Clothoid composite path is proposed in this paper.A shorter path with continuous 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 1 through 3 of the full paper explain and evaluate the path planning algorithm mentioned in the title,which we believe is better than the existing differential geometry algorithm.The core of sections 1 through 3 consists of:(1) section 1 briefs Clothoid curve;(2) section 2 explains our path planning algorithm;for convenience,it is divided into two subsections(2.1 and 2.2);Figs.1 and 2 are worth noticing;(3) section 3 evaluates our path planning algorithm;simulation results are presented in Figs.3 through 5;the simulation results and their analysis show preliminarily that,compared with the differential geometry algorithm,the proposed iteration algorithm is indeed simpler and the nonlinear equation has a unique solution by choosing the starting value in the starting interval.
引文
[1]高晓光,杨有龙.基于不同威胁体的无人机作战飞机初始路径规划.航空学报,2003,24(5):435-438Gao Xiaoguang,Yang Youlong.Initial Path Planning Based-on Different Threats for Unmanned Combat Air Vehicles.ActaAeronautica et Astronautica Sinica,2003,24(5):435-438(in Chinese)
[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
[6]Meek D S,Walton D J.An Arc Spline Approximation to a Clothoid.Journal of Computational and Applied Mathematics,2004,170:59-77
[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
[9]刘永超.Clothoid曲线拟合及插补方法.机械设计,2004,21(2):54-62Liu Yongchao.The Method of Curve Fitting and Interpolation by Using Clothoid.Journal of Machine Design,2004,21(2):54-62(in Chinese)
[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
[6]Meek D S,Walton D J.An Arc Spline Approximation to a Clothoid.Journal of Computational and Applied Mathematics,2004,170:59-77
[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
[9]刘永超.Clothoid曲线拟合及插补方法.机械设计,2004,21(2):54-62Liu Yongchao.The Method of Curve Fitting and Interpolation by Using Clothoid.Journal of Machine Design,2004,21(2):54-62(in Chinese)