【摘要】 针对四旋翼无人机在低空复杂环境自主巡航所需的航迹规划问题,提出了一种基于快速搜索随机树(RRT-connect)的改进型算法。根据四旋翼无人机的微分平坦特性,合理设计了规划空间;引入转角约束和路径修剪方法,在保证规划实时性的基础上使所规划路径的平均长度缩短了19%;通过B样条函数对路径进行平滑处理,使生成的轨迹具有二阶几何连续性,同时能避免与障碍物区域发生碰撞。经多次重复对比试验,证实了提出算法的有效性、优越性和稳定性。更多还原

【Abstract】 An improved algorithm based on rapidly-exploring random tree( RRT) connect to solve the trajectory planning problem of quadrotor unmanned aerial vehicle( UAV),which autonomous cruising in low altitude complex environment is proposed. According to differential flat characteristics of quadrotor UAV,design reasonably planning space; introduce angle constraint and path pruning method,on the basis of premising instantaneity of plan,average length of the planning path is shortened by 19 % in the condition of the limited planning time; and through Bspline function for path smoothing,processing to make the generated trajectory has two-order geometric continuity,and it can avoid the collision with obstacle area. Contrast experiments show the validity,superiority and stability of the algorithm.更多还原