基于EB-RRT养的无人机航迹规划算法研究-计算机科学.PDF

第 44 卷第11A 期 Vo l. 44 No. 11A 计算机科学 2017 年 11 月 COMPUTER SCIENCE Nov.2017 基于 EB-RRT养的无人机航迹规划算法研究 陈晋青李玉璋杜文耀 (浙江工业大学信息工程学院 杭州 310023) 摘 要 随着小型元人机的广泛应用，元人机的自动巡航能力变得至关重要。元人机航迹规划，是指其在已知环境地 图信息下展开航迹规划以实现元碰撞地、平滑地从初始点到达目标点。针对现有算法依然存在收敛速度慢、选历时间 长和航迹曲线化无法满足实际元人机飞行条件等问题，首先提出了 EB-RRT是 (Efficient B-RRT祷)算法，设计自适应 避障提高算法收敛速度并减少内存占用;然后采用栅格分区的方法缩短附近节点的选历时间;最后利用合理的降采样 和三次贝塞尔插值算法对折点进行光滑化的处理，使算法最终生成相对平滑的航迹，为元人机实际飞行提供可行航迹 规划方法。进行了多组不同环境复杂度的实验，并将该算法与其他算法进行对比，结果验证了所提算法的有效性。 关键词 RRT，元人机，航迹规划，收敛速度，航迹优化 中图法分类号 TP242 文献标识码 A UAV Navigatioo Algorithm Research Based 00 EB-RRT赞 CHEN Jin-yin LI Yu-wei DU Wen-yao CCollege of Information Engineering ,Zhejiang University of Technology ,Hangzhou 310023 ,China) Abstract With the wide application of UAV ,automatic navigation capability of UAV becomes more important. UAV navigation algorithm was defined to plan a collision free and smooth path from start position to destination position in known maps. Aiming at three problems of current navigation algorithms including low convergence rate ,long searching time and navigation path couldn t be applied to real UAV ,EB-RRT是 (Efficient B-RRT祷) algorithm was proposed. A se!f-adaptive obstacle avoidance strategy was designed to speed up convergence rate of traditional navigation algorithm by reducing memory cost. Grid based segmentation mechanism was put forward to reduce searching time for path plan ning. Suitable down sampling and three times Bessel interpolation formula were adopted to smooth final path for practi cal UAV applications. Several simulation maps