| 多约束条件下的无人机轨迹快速规划 |
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| 引用本文： | 吴成振,孙大运. 多约束条件下的无人机轨迹快速规划[J]. 农业装备与车辆工程, 2021, 59(3): 131-134,139 |
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| 作者姓名： | 吴成振 孙大运 |
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| 作者单位： | 200093 上海市 上海理工大学 机械工程学院;200093 上海市 上海理工大学 医疗器械与食品学院 |
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| 摘 要： | 多约束条件下无人机轨迹快速规划是无人机航迹规划的重要内容.通过构造无人机在定位误差约束下的数学模型,结合航迹点和转弯半径推导出空间圆弧轨迹方程,利用贪心算法对无人机的航迹进行快速规划,结合软件仿真得到飞行过程中的最优航迹方案,为应用仓储物流路径规划领域以及车辆无人驾驶目标路径规划提供了思路.
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| 关 键 词： | 快速规划 贪心算法 空间圆弧轨迹 转弯半径 定位误差 |
Research on Rapid Planning of UAV Trajectory under Multi-constraint Conditions |
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| Wu Chengzhen,Sun Dayun. Research on Rapid Planning of UAV Trajectory under Multi-constraint Conditions[J]. Agricultural Equipment & Vehicle Engineering, 2021, 59(3): 131-134,139 |
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| Authors: | Wu Chengzhen Sun Dayun |
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| Affiliation: | (School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;School of Medical Devices and Food,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | Rapid planning of UAV trajectory under multiple constraints is an important part of UAV trajectory planning.Therefore,by establishing a mathematical model of the UAV under the constraints of positioning error,the space arc trajectory equation is deduced by combining the track points and the turning radius.The greedy algorithm is utilized to quickly plan the UAV's track,and optimal trajectory plan is obtained by software simulation during flight.This paper also provides ideas for the application of warehousing and logistics path planning fields and vehicle unmanned target path planning. |
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| Keywords: | rapid planning greedy algorithm space arc trajectory turning radius positioning error |
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