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针对多旋翼无人机在陌生城市低空安全飞行的需要,研究了适合于陌生环境应用的在线航路规划方法。在分析传统Laguerre图航路规划原理及其航路安全性优势的基础上,首先导出了面向单个拟飞通道的Laguerre规划航路的特性。进而,通过最小化航路安全误差,建立了单个航段的最佳安全航路。在上述研究的基础上,提出了面向陌生环境的在线滚动式Laguerre航路规划方法。设计了模拟城市建筑物分布的仿真飞行场景,并通过对比分析不同规划方法对于仿真场景的航路规划结果,显示了本文算法在航路规划问题中避撞安全性方面的优势。
In view of the need of multi-rotor UAV in low-altitude flight in strange city, this paper studies on-line route planning method suitable for unfamiliar environment application. Based on the analysis of the traditional Laguerre chart route planning principle and its advantage of route safety, the characteristics of Laguerre planned route for a single flyway are derived. Furthermore, by minimizing the safety error of the route, the best safe route for a single segment is established. On the basis of the above research, an online rolling Laguerre route planning method for unfamiliar environment is proposed. The simulated flight scenario simulating the distribution of urban buildings is designed. By comparing the results of different planning methods with those of the simulated scenarios, the advantages of the proposed algorithm in collision avoidance safety in route planning are shown.