基于改进PH曲线的无人机航迹规划

 航迹规划是无人机任务规划的重要组成部分。针对现有航迹规划存在的不足, 提出一种基于改进pythagorean hodo-graph(PH)曲线的航迹规划方法。该方法结合了PH 曲线的曲率连续性和粒子群优化算法的快速搜索特点, 将PH 曲线的控制点选取通过粒子群算法进行优化, 可以快速得到避障安全、满足最大曲率限制和曲率连续的最优PH 路径。仿真结果表明了该方法的有效性。

Track planning for unmanned aerial vehicles based on improved PH curves

Track planning is one important factor of UAV mission planning. To aim at the shortage currently existing in track planning, a method of track planning based on improved PH curves is proposed. The characteristic of PH curves' continuous curvature is combined with the fast search of particle swarm optimization algorithm, by which choosing PH curves' control point is optimized. The optimal PH path that avoids the obstacles in the environment meets the constraint of maximum curvature, and continuous curvature can be obtained quickly. Simulation results show the validity of the method.