CN104808688B - Unmanned aerial vehicle curvature continuous adjustable path planning method - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle curvature continuous adjustable path planning method. The method includes 1, performing path curvature continuation, utilizing a parameter Cat mull-Rom curve to connect marked points of a path, and guaranteeing the curvature continuation of connection points by the interpolation optimizing method; 2, calculating the curvature values of points of a path curve, querying and marking curve a start point Point start and a destination point Ballpoint with the curvature values exceeding a determined threshold; 3, adopting the minimum curvature circle transfer method, and utilizing a curve Brazier with curvature changing monotonously to connect the Point start and the Ballpoint. Compared with the prior art, the smooth path planning method allowing all the marked points to be passed is provided, the parameter Cat mull-Rom curve is adopted, and the path is guaranteed passing all the marked points; by means of the interpolation optimizing algorithm, the path point curvature continuation is guaranteed; by means of the curvature monotonous smooth connection algorithm, the path curvature extreme value range is controlled, and the accuracy and feasibility of the path are provided on the premise of meeting the unmanned aerial vehicle kinematic conditions.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field, more particularly, to a kind of planning of unmanned plane continual curvature adjustable path
Method.
Background technology
With the development of Based Intelligent Control and unmanned technology, unmanned plane (Unmanned Aerial Vehicle) is transported in logistics
Play in the civil areas such as the monitoring of defeated, crops, disaster relief and target detection and military field it is more and more important should
With value.Path planning is the basis that unmanned plane rapidly and efficiently performs task.The purpose of path planning is to provide one and meets nothing
The path optimizing that man-machine displacement is required.
Path planning is divided into logical path planning and physical pathway planning problem.Logical path planning is in given interval
On find the starting point of Least-cost and terminating point connected mode.The purpose of physical pathway planning is to be given to meet physical restriction bar
The feasible path of part (restriction of unmanned plane sport dynamicses), and ensure that path is optimum：Real-time, local adjustable, accuracy.
Typical logical path planning algorithm has：Artificial Potential Field Method (Artificial Potential Field), TSP
(Traveling Salesman Problem)、MTSP(Multiple Traveling Salesman Problem)、
Dijkstra、A*, genetic algorithm (Genetic Algorithm), SOM (Self Organizing Mapping) etc..But this
A little algorithms do not account for physical feasibility.
The physical pathway planning algorithm of main flow has：DC (Dubins Curve) curve, Bezier curve, B-Spline, PH
(Pythagorean Hodograph) curve etc..These algorithms are without considering that path curvatures are continuous simultaneously, amount of curvature limit with
And through the requirement of all road sign points.DC curves are using 2 points on straight line and circular sliding slopes plane, it is ensured that shortest path, but connect
Junction curvature is interrupted；Bezier and B-Spline is curve of approximation, and curve approaches control point, but without all controls
Point；PH curvature of curves are continuous and can be according to curvature extremum value inversional curve parameter, but the curve still falls within curve of approximation, and
And computation complexity is high, be not suitable for real-time route planning.
The content of the invention
It is an object of the invention to provide a kind of continual curvature adjustable path planing method, to solve present in prior art
Path cannot meet unmanned plane kinematic conditions, path and lack the high problem of degree of accuracy and algorithm complex.
The technical solution adopted in the present invention is：A kind of unmanned plane continual curvature adjustable path planing method, its feature exists
In comprising the following steps：
Step 1：Initialization unmanned plane task map, marks the geographical coordinate of each task point, and the minimum for setting unmanned plane turns
Curved radius；
Step 2：The form parameter of setting segmentation Catmull-Rom curves is respectively 1,0；Connect each using geometric algorithm
Business point, obtains path planning；Curvature discontinuous point is existed only at the junction point of segmentation Catmull-Rom curves, calculates each connection
Whether point meets continual curvature condition, obtains curvature discontinuous point Node [i], i=1,2,3...i；
Step 3：Mark curvature discontinuous point Node [i], i=1,2,3...i, under predecessor's business point distribution situation, insertion is new
Road sign point or mobile critical path punctuate, complete the continual curvature of all junction points, it is continuous to reach path curvatures, obtain
New route；
Step 4：The new route curvature of curve value obtained in calculation procedure 3, records curvature value and exceedes what maximum curvature was limited
Curvature line segment OverCur [j], it is Point_sThod [j], Point_fThod [j] to calculate respective path curve starting point；
Step 5：Transition method is justified using minimum curvature, using the Bezier curve of monotone curvature variation each line of curvature is connected
The starting point and terminal of section OverCur [j], completes curvature path curve weight-normality and draws.
Preferably, new road sign point or mobile crucial is inserted under predecessor's business point distribution situation described in step 3
Road sign point, uses optimum interpolation method, and it is implemented including following sub-step：
Step 3.1：Original path is counted out and is designated as data_len, according to curvature mutation size, determines the position of insertion point,
Remember serial number ctlflag of the position in predecessor's business point；
Step 3.2：According to the value of ctlflag, the curved section that length of curve is affected by the insertion point is analyzed；Its concrete analysis
Process includes following sub-step：
Step 3.2.1：Calculate the impacted curve hop count seg_ahead of length before the point；If ctlflag ＞ 5,
Then hop count is 3；Otherwise hop count be mod (ctlflag+1,3)；
Step 3.2.2：Calculate the impacted curve hop count seg_after of length after the point；If len_ctrflag
>=7, wherein len_ctrflag=data_len-ctlflag, then hop count is 3；Otherwise hop count is len_ctlflag-4；
Step 3.2.3：The total hop count of curved section that length of curve is affected by the insertion point is seg_ahead+seg_after；
Step 3.3：According to the value of ctlflag, the junction point number that curvature value is affected by the insertion point is analyzed；It specifically divides
Analysis process includes following sub-step：
Step 3.3.1：Calculate number Cur_ahead=seg_ of the impacted junction point of curvature value before insertion point
ahead-1；
Step 3.3.2：The number of the impacted junction point of curvature value is behind calculating insertion point：Cur_after=seg_
after-1；
Step 3.3.3：The junction point number that curvature value is affected by the insertion point is Cur_ahead+Cur_after+1；
Step 3.4：Using genetic algorithm, optimization needs the position of insertion point, and the position ensures that impacted curvature value connects
It is continuous, and optimize impacted length of curve value；
Step 3.5：Repeat the above steps, complete the continual curvature of all junction points.
Preferably, the minimum curvature circle transition method described in step 5, it implements process including following sub-step
Suddenly：
Step 5.1：Point_sThod [j], the central coordinate of circle Cen_s of Point_fThod [j] the place circle of curvature are calculated respectively
[j]、Cen_f[j]；Wherein curvature radius of circle is unmanned plane min. turning radius；
Step 5.2：With Point_sThod [j] as origin, local coordinate system is set up, Cen_f [j] is converted into into local and is sat
Mark；
Step 5.3：The circle of curvature transition method that this method is proposed includes C, S, C-C, C-S, S-S, S-C curve, wherein C, C-
C, S-S curve ensures that starting point and terminal are constant around rotation direction；S, C-S, S-C curve makes terminal with starting point around rotation direction phase
Instead；According to conclusions, transfer curve type is selected, calculate minimum curvature circle transition two |input parametes of method：Shape control ginseng
M (m >=1), Bezier structured parameter theta are counted, m is uniquely determined by the relative position of Cen_s [j], Cen_f [j], theta
Uniquely determined with curvature monotony condition by m, connect its starting point and terminal；
Step 5.4：Repeat above step, complete curvature path curve weight-normality and draw.
The present invention is compared with prior art, it is proposed that a kind of smooth paths planing method through all road sign points, adopts
Parameterized Catmull-Rom curves, it is ensured that path is through all road sign points；By optimizing interpolation and key point branching algorithm,
Ensure path each point continual curvature；Using curvature monotony smooth connection algorithm, control path curvature extremum value scope, path is made full
Under the premise of sufficient unmanned plane kinematic conditions, with accuracy and feasibility.
Description of the drawings
Fig. 1：For the method flow diagram of the embodiment of the present invention；
Fig. 2：For embodiment of the present invention best interpolation schematic diagram；
Fig. 3：For embodiment of the present invention best interpolation method flow diagram；
Fig. 4：For embodiment of the present invention minimum curvature transition circle connection diagram；
Fig. 5：Justify transition method flow chart for embodiment of the present invention minimum curvature；
Fig. 6：For embodiment of the present invention specific embodiment schematic diagram.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment is to this
It is bright to be described in further detail, it will be appreciated that enforcement example described herein is merely to illustrate and explains the present invention, not
For limiting the present invention.
Fig. 1 is asked for an interview, a kind of unmanned plane continual curvature adjustable path planing method that the present invention is provided is comprised the following steps：
Step 1：Initialization unmanned plane task map, marks the geographical coordinate of each task point, and the minimum for setting unmanned plane turns
Curved radius；
Initialization map, sets target point sequence of the unmanned plane in the subtask, according to actual landform, sets unmanned plane
Flying height；In task implementation procedure, the speed of unmanned plane is constant with flying height.
Step 2：The form parameter of setting segmentation Catmull-Rom curves is respectively 1,0；Connect each using geometric algorithm
Business point, obtains path planning；Curvature discontinuous point is existed only at the junction point of segmentation Catmull-Rom curves, calculates each connection
Whether point meets continual curvature condition, obtains curvature discontinuous point Node [i], i=1,2,3...i；
Step 3：Mark curvature discontinuous point Node [i], i=1,2,3...i, under predecessor's business point distribution situation, insertion is new
Road sign point or mobile critical path punctuate, complete the continual curvature of all junction points, it is continuous to reach path curvatures, obtain
New route；
New road sign point or mobile critical path punctuate is inserted under predecessor's business point distribution situation, best interpolation is used
Method, asks for an interview Fig. 2 and Fig. 3, and it is implemented including following sub-step：
Step 3.1：Original path is counted out and is designated as data_len, according to curvature mutation size, determines the position of insertion point,
Remember serial number ctlflag of the position in predecessor's business point；
Step 3.2：According to the value of ctlflag, the curved section that length of curve is affected by the insertion point is analyzed；Its concrete analysis
Process includes following sub-step：
Step 3.2.1：Calculate the impacted curve hop count seg_ahead of length before the point；If ctlflag ＞ 5,
Then hop count is 3；Otherwise hop count be mod (ctlflag+1,3)；
Step 3.2.2：Calculate the impacted curve hop count seg_after of length after the point；If len_ctrflag
>=7, wherein len_ctrflag=data_len-ctlflag, then hop count is 3；Otherwise hop count is len_ctlflag-4；
Step 3.2.3：The total hop count of curved section that length of curve is affected by the insertion point is seg_ahead+seg_after；
Step 3.3：According to the value of ctlflag, the junction point number that curvature value is affected by the insertion point is analyzed；It specifically divides
Analysis process includes following sub-step：
Step 3.3.1：Calculate number Cur_ahead=seg_ of the impacted junction point of curvature value before insertion point
ahead-1；
Step 3.3.2：The number of the impacted junction point of curvature value is behind calculating insertion point：Cur_after=seg_
after-1；
Step 3.3.3：The junction point number that curvature value is affected by the insertion point is Cur_ahead+Cur_after+1；
Step 3.4：Using genetic algorithm, optimization needs the position of insertion point, and the position ensures that impacted curvature value connects
It is continuous, and optimize impacted length of curve value；
Step 3.5：Repeat the above steps, complete the continual curvature of all junction points.
Step 4：The new route curvature of curve value obtained in calculation procedure 3, records curvature value and exceedes what maximum curvature was limited
Curvature line segment OverCur [j], it is Point_sThod [j], Point_fThod [j] to calculate respective path curve starting point；
Step 5：Transition method is justified using minimum curvature, using the Bezier curve of monotone curvature variation each line of curvature is connected
The starting point and terminal of section OverCur [j], completes curvature path curve weight-normality and draws；
Fig. 4 and Fig. 5 is asked for an interview, minimum curvature justifies transition method, it implements process including following sub-step：
Step 5.1：Point_sThod [j], the central coordinate of circle Cen_s of Point_fThod [j] the place circle of curvature are calculated respectively
[j]、Cen_f[j]；Wherein curvature radius of circle is unmanned plane min. turning radius；
Step 5.2：With Point_sThod [j] as origin, local coordinate system is set up, Cen_f [j] is converted into into local and is sat
Mark；
Step 5.3：The circle of curvature transition method that this method is proposed includes C, S, C-C, C-S, S-S, S-C curve, wherein C, C-
C, S-S curve ensures that starting point and terminal are constant around rotation direction；S, C-S, S-C curve makes terminal with starting point around rotation direction phase
Instead；According to conclusions, transfer curve type is selected, calculate minimum curvature circle transition two |input parametes of method：Shape control ginseng
M (m >=1), Bezier structured parameter theta are counted, m is uniquely determined by the relative position of Cen_s [j], Cen_f [j], theta
Uniquely determined with curvature monotony condition by m, connect its starting point and terminal；
Step 5.4：Repeat above step, complete curvature path curve weight-normality and draw.
Fig. 6 is asked for an interview, the unmanned plane min. turning radius of the present embodiment are set to 67m.Test map size：2500*
2000m.In test process, unmanned plane is through all road sign points, and it is (bent that path curve meets unmanned plane kinematic conditions for the present invention
Rate continuously with maximum curvature limit), and traditional DC (Dubins Curve, Bezier Curve, B-Spline and PH are bent
Line) can not simultaneously meet above feature.
It should be appreciated that the part that this specification is not elaborated belongs to prior art.
It should be appreciated that the above-mentioned description for preferred embodiment is more detailed, therefore can not be considered to this
The restriction of invention patent protection scope, one of ordinary skill in the art is weighing under the enlightenment of the present invention without departing from the present invention
Under the protected ambit of profit requirement, replacement can also be made or deformed, be each fallen within protection scope of the present invention, this
It is bright scope is claimed to be defined by claims.
Claims (3)
1. a kind of unmanned plane continual curvature adjustable path planing method, it is characterised in that comprise the following steps：
Step 1：Initialization unmanned plane task map, marks the geographical coordinate of each task point, sets the minimum turning half of unmanned plane
Footpath；
Step 2：The form parameter of setting segmentation Catmull-Rom curves is respectively 1,0；Each task is connected using geometric algorithm
Point, obtains path planning；Curvature discontinuous point is existed only at the junction point of segmentation Catmull-Rom curves, calculates each junction point
Whether meet continual curvature condition, obtain curvature discontinuous point Node [i], i=1,2,3...i；
Step 3：Mark curvature discontinuous point Node [i], i=1,2,3...i, under predecessor's business point distribution situation, insert new road
Punctuate or mobile critical path punctuate, complete the continual curvature of all junction points, continuous to reach path curvatures, obtain new road
Footpath；
Step 4：The new route curvature of curve value obtained in calculation procedure 3, records curvature value and exceedes the curvature that maximum curvature is limited
Line segment OverCur [j], it is Point_sThod [j], Point_fThod [j] to calculate respective path curve starting point；
Step 5：Transition method is justified using minimum curvature, using the Bezier curve of monotone curvature variation each curvature line segment is connected
The starting point and terminal of OverCur [j], completes curvature path curve weight-normality and draws.
2. unmanned plane continual curvature adjustable path planing method according to claim 1, it is characterised in that：Institute in step 3
That what is stated inserts new road sign point or mobile critical path punctuate under predecessor's business point distribution situation, uses optimum interpolation method,
It is implemented including following sub-step：
Step 3.1：Original path is counted out and is designated as data_len, according to curvature mutation size, determines the position of insertion point, and note should
Serial number ctlflag of the position in predecessor's business point；
Step 3.2：According to the value of ctlflag, the curved section that length of curve is affected by the insertion point is analyzed；Its concrete analysis process
Including following sub-step：
Step 3.2.1：Calculate the impacted curve hop count seg_ahead of length before the point；If ctlflag ＞ 5, section
Number is 3；Otherwise hop count be mod (ctlflag+1,3)；
Step 3.2.2：Calculate the impacted curve hop count seg_after of length after the point；If len_ctrflag >=7,
Wherein len_ctrflag=data_len-ctlflag, then hop count is 3；Otherwise hop count is len_ctlflag-4；
Step 3.2.3：The total hop count of curved section that length of curve is affected by the insertion point is seg_ahead+seg_after；
Step 3.3：According to the value of ctlflag, the junction point number that curvature value is affected by the insertion point is analyzed；It was made a concrete analysis of
Journey includes following sub-step：
Step 3.3.1：Calculate number Cur_ahead=seg_ahead-1 of the impacted junction point of curvature value before insertion point；
Step 3.3.2：The number of the impacted junction point of curvature value is behind calculating insertion point：Cur_after=seg_
after-1；
Step 3.3.3：The junction point number that curvature value is affected by the insertion point is Cur_ahead+Cur_after+1；
Step 3.4：Using genetic algorithm, optimization needs the position of insertion point, and the position ensures that impacted curvature value is continuous, and
And the impacted length of curve value of optimization；
Step 3.5：Repeat the above steps, complete the continual curvature of all junction points.
3. unmanned plane continual curvature adjustable path planing method according to claim 1, it is characterised in that：Institute in step 5
The minimum curvature circle transition method stated, it implements process including following sub-step：
Step 5.1：Respectively calculate Point_sThod [j], the central coordinate of circle Cen_s [j] of Point_fThod [j] the place circle of curvature,
Cen_f[j]；Wherein curvature radius of circle is unmanned plane min. turning radius；
Step 5.2：With Point_sThod [j] as origin, local coordinate system is set up, Cen_f [j] is converted into into local coordinate；
Step 5.3：The circle of curvature transition method that this method is proposed includes C, S, C-C, C-S, S-S, S-C curve, wherein C, C-C, S-S
Curve ensures that starting point is constant around rotation direction with terminal；S, C-S, S-C curve makes terminal and starting point in opposite direction around revolving；According to
Conclusions, select transfer curve type, calculate minimum curvature circle transition two |input parametes of method：Shape parameters m,
Bezier structured parameter theta, m are uniquely determined that theta is by m and curvature list by the relative position of Cen_s [j], Cen_f [j]
Tune condition uniquely determines, m >=1；Connect its starting point and terminal；
Step 5.4：Repeat above step, complete curvature path curve weight-normality and draw.
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