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本文主要针对无人机传统路径规划方法中存在着较少考虑稳定控制的缺点,提出了一种基于Pythagorean Hodograph曲线的无人机路径规划方法。本方法在对Pythagorean Hodograph(PH)曲线研究的基础上,利用遗传算法构建了给定起始点、终点以及起始方向、终点方向的两点间最短PH路径、稳定控制PH路径以及稳定最短PH路径。通过仿真,最短PH路径达到了与传统的最短Dubins路径距离相差2%的目的;稳定控制PH路径达到最平稳到达目标点的目的;稳定最短PH路径则综合考虑了路径最优且控制最稳定的目的。
In this paper, aiming at the shortcomings that the traditional UAV path planning methods have less consideration of the stability control, a method of UAV path planning based on the Pythagorean Hodograph curve is proposed. Based on the study of Pythagorean Hodograph (PH) curve, this paper constructs the shortest PH path between two points with given starting point, ending point, starting direction and ending point by using genetic algorithm, stably controlling the PH path and stabilizing the shortest PH path . Through simulation, the shortest PH path achieves the goal of 2% difference from the traditional shortest Dubins path distance; stabilizes the PH path to reach the most stable target point; and stabilizes the shortest PH path, considering the optimal path and the most stable control purpose.