一种快速3维无人机航迹规划方法

无人机三维航迹规划由于规划约束众多,同时面临在巨大的搜索空间中寻优,往往规划速度慢,规划效率低.结合二维规划和高度规划实现三维规划是一种有效提升规划速度的解决方案,在利用Fast M arching Method(FMM)进行二维规划的基础上,采用Sparse A-star(SAS)搜索算法进行高度规划,分阶段考虑航迹规划的各种环境约束和机动约束,从而压缩规划空间.实验表明,该方法航迹规划速度快,所得到的三维航迹具有良好的地形跟随能力和避障能力.

A Fast 3D Path Planning Method for UAVs

3D path planning is always slow and in efficient for there are many constraints to be considered while planning,meanwhile,the path is produced by searching in huge space.It is an efficient scheme to improve path planning speed by combining 2D path planning and height planning.We proposed a fast 3D path planning method by planning 2D path with Fast Marching Method(FMM) and making height planning using Sparse A-Star(SAS) searching method,where the environment and maneuverability constraints are processed by stages,thereby,the planning space is reduced.Experiments showed that the proposed method generates path quickly,and the obtained path follows terrain and avoids obstacle well.