| 基于非均匀B-样条的G2路径平滑方法 |
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| 引用本文： | 王振华,章卫国,李广文,穆旭.基于非均匀B-样条的G2路径平滑方法[J].系统工程与电子技术,2011,33(7):1539-1543. |
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| 作者姓名： | 王振华 章卫国 李广文 穆旭 |
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| 作者单位： | 1. 北京控制与电子技术研究所, 北京 100038； 2. 西北工业大学自动化学院, 陕西 西安 710072 |
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| 基金项目： | 航空科学基金(20090753008)资助课题 |
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| 摘 要： | 运用非均匀B-样条对由直线段构成的路径进行平滑,给出了样条结点参数和样条控制点的选取方法及其证明。平滑后的整条航路曲率为一连续函数,同时满足了无人机最小转弯半径要求。相比于Bezier方法,转弯准备距离缩短为原来的93.75%。仿真结果显示,本文所得航路更适合运用于障碍物密集的严苛环境中。
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| 关 键 词： | 无人机 航路规划 B-样条 曲率连续 路径平滑 |
G2 path smoothing using non-uniform B-spline |
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| WANG Zhen-hua,ZHANG Wei-guo,LI Guang-wen,MU Xu.G2 path smoothing using non-uniform B-spline[J].System Engineering and Electronics,2011,33(7):1539-1543. |
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| Authors: | WANG Zhen-hua ZHANG Wei-guo LI Guang-wen MU Xu |
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| Institution: | 1. Beijing Institute of Control and Electronic Technology, Beijing 100038, China;;
2. College of Automation, Northwestern Polytechnical University, Xi’an 710072, China |
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| Abstract: | B-spline is used to smooth the paths which is composed of line segments,and the way of choosing nodes and control points of the spline is given.The smoothed path is of continuous curvature and meets the need of minimum turn radius of unmanned air vehicles(UAVs).Compared with the Bezier method,the prepare distance for turning is shortened to 93.75% of original quantity.The simulation results show that B-spline is more suitable for circumstances with dense obstacles. |
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| Keywords: | unmanned aerial vehicle(UAV) path planning B-spline continuous curvature path smoothing |
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