【作者】 赵靖； 王伟达； 杨超； 李颖；

【Author】 Zhao Jing;Wang Weida;Yang Chao;Li Ying;Beijing Institute of Technology;Chongqing Innovation Center,Beijing Institute of Technology;

【机构】 北京理工大学； 北京理工大学重庆创新中心；

【摘要】 本文提出了一种一体式飞行车辆多模态平滑路径规划算法。首先,考虑到飞行车辆多模态运动能力,设计了一种新型A~*评价函数。该函数对不同路径点的评价成本包括地面行驶成本和空中飞行成本。通过所遍历路径点的成本值比较,可获得车辆不同模态切换的恰当位置,并搜寻一条短的多模态任务路径。其次,三次B样条曲线用于路径的平滑处理。上述规划的路径点为B样条曲线的控制点,整个平滑路径由多组B样条曲线组成。通过平滑处理,路径中的尖峰拐点被去除,平滑度提高,路径距离得到了进一步缩短。最后,在1000×1000m的障碍物地图中验证了所提算法的有效性。该算法规划的飞行车辆多模态任务路径比传统地面车辆路径缩短了116.4m的路径距离。平滑处理之后,飞行车辆任务路径的平滑度得到显著提高,并且相比较未平滑路径,缩短了36.8m的距离。更多还原

【Abstract】 In this paper,a multi-mode smooth path planning algorithm for the integrated flying vehicle is proposed.Firstly,a new A~*evaluation function,considering the multi-mode movement capability of the flying vehicle,is designed.This function evaluates the cost of different path points,including the ground driving cost and air flight cost.By comparing the cost values,the appropriate positions for mode switching can be obtained,and a short multi-mode task path can be searched.Secondly,cubic B-spline curves are used for path smoothing.The above path points are the control points of the B-spline curves.And the entire smooth path is composed of multiple groups of B-splines.By smoothing,the sharp inflection points in the path are removed,the smoothness is improved,and the path distance is further reduced.Finally,this algorithm is verified on 1000 m* 1000 m obstacle maps.The multi-mode task path of the flying vehicle reduces the path distance by 116.4 m compared with the path of the conventional ground vehicle.After smoothing,the smoothness of the multi-mode task path is significantly improved,and its distance is reduced by 36.8 m compared to the unsmooth path’s.更多还原