| 无人机快速航迹规划算法 |
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| 引用本文： | 刘新,周成平,丁明跃.无人机快速航迹规划算法[J].华中科技大学学报(自然科学版),2011(4):45-48. |
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| 作者姓名： | 刘新 周成平 丁明跃 |
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| 作者单位： | 华中科技大学多谱信息处理国防重点实验室;华中科技大学图像信息处理与智能控制教育部重点实验室; |
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| 基金项目： | 国家高技术研究发展计划资助项目(2007AA12Z166) |
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| 摘 要： | 基于快速搜索树提出了一种快速高效同时具有鲁棒性的航迹规划算法.该算法主要包括3部分:选择采样点、搜索扩展树上距采样点最近的节点和扩展节点.首先产生采样点,以一定概率选取目标点作为采样点来提高航迹的质量和规划速度;然后找出搜索树上距采样点最近的节点;最后扩展节点,扩展节点时把航迹约束条件结合到节点扩展过程中,保证了航迹的可行性.这个过程不断迭代,直到找到目标点.仿真结果显示本方法能快速找到近似最优解并且对规划环境有一定的鲁棒性.
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| 关 键 词： | 航迹规划 无人机 快速扩展随机树 实时性 鲁棒性 路径规划 |
Efficient path planning algorithm for UAV |
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| Liu Xina Zhou Chengpinga Ding Mingyueb.Efficient path planning algorithm for UAV[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2011(4):45-48. |
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| Authors: | Liu Xina Zhou Chengpinga Ding Mingyueb |
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| Institution: | Liu Xina Zhou Chengpinga Ding Mingyueb(a Institute for Pattern Recognition and Artificial Intelligence State Key Laboratory for Multi-spectral Information Processing Technologies,b Key Laboratory of Ministry of Education for Image Processing and Intelligent Control,Huazhong University of Science and Technology,Wuhan 430074,China) |
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| Abstract: | On the basis of rapidly-exploring random trees(RRT) algorithm,an efficient and robust approach was proposed to improve real time and robustness of path planning system for unmanned aerial vehicle(UAV),which consists of three parts,generation of sample point,search of the point on the tree nearest to sample point,and expansion of vertex.First,sample point selection was addressed by choosing the target point with certain probability to improve the route quality and planning speed.Then,the nearest point on the... |
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| Keywords: | route planning unmanned aerial vehicle(UAV) rapidly-exploring random tree real-time robustness path planning |
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