CN109341699A - A kind of Intelligent unattended platform path planing method based on avoidance turning quality estimating - Google Patents
A kind of Intelligent unattended platform path planing method based on avoidance turning quality estimating Download PDFInfo
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Abstract
The present invention relates to a kind of Intelligent unattended platform path planing methods based on avoidance turning quality estimating, belong to Intelligent unattended platform technology field, solves the problems, such as to calculate present in the smooth planning of existing avoidance turning and method for evaluation of quality complicated, computationally intensive.It the described method comprises the following steps: calculating the avoidance turning center of circle, and cook up the smooth paths of unmanned platform avoidance turning；According to the smooth paths cooked up, in starting path point, terminates between path point, increase new path point, unmanned platform is moved according to the smooth paths and all path points；The avoidance turning quality of unmanned platform is assessed, quality evaluation is obtained；Optimize the planning path of unmanned platform according to the assessment result.The path planning and quality estimating for realizing avoidance turning solve the problems, such as to calculate present in the smooth planning of existing avoidance turning and method for evaluation of quality complicated, computationally intensive.
Description
Technical Field
The invention relates to the technical field of unmanned path planning, in particular to an intelligent unmanned platform path planning method based on obstacle avoidance turning quality evaluation.
Background
The unmanned path planning means that a feasible or optimal track which can enable the unmanned platform to reach a target point from a starting point is found under the condition that constraint factors such as running time, maneuvering performance and environmental conditions are comprehensively considered.
The method comprises the steps that path planning is conducted through rough path points in direct connection, certain 'curved paths' and 'broken lines' exist inevitably, the threat cost of the paths is not reduced, and the fuel cost of the paths is increased on the contrary. The research of the obstacle avoidance turning quality evaluation method based on the intelligent unmanned platform (including unmanned aerial vehicles, unmanned ships and the like) can be applied to the turning path design of the intelligent unmanned platform, civil aviation and the like, the path operation safety is improved, the operation benefit is improved, the operation cost is reduced, the method can be used as the thought supplement of each algorithm of unmanned platform path planning, design developers can be provided to know the operation condition of the intelligent unmanned platform, and the design performance of the unmanned platform is further improved.
At present, most of intelligent unmanned platform quality evaluation methods are based on manned platforms, lack of specifications, particularly obstacle avoidance maneuvering turning evaluation, and in the aspect of conventional quality evaluation technologies, computing software lacks systematicness, evaluation constraint conditions are too many, the evaluation constraint conditions are too complex, the calculation amount is large, and meanwhile, designers need to evaluate according to experience, and the evaluation is limited by human factor influence. In addition, only aiming at key design obstacle avoidance turning in path planning, smooth design and quality evaluation are carried out, and no simple and feasible method exists.
Disclosure of Invention
In view of the foregoing analysis, the present invention provides an intelligent unmanned platform path planning method based on obstacle avoidance turn quality evaluation, so as to solve the problems of complex computation and large computation amount in the existing obstacle avoidance turn smooth planning and quality evaluation methods.
The invention provides an intelligent unmanned platform path planning method based on obstacle avoidance turning quality evaluation, which comprises the following steps of:
calculating the obstacle avoidance turning circle center according to the starting path point, the ending path point and the turning radius of the unmanned platform, and planning a smooth path of the obstacle avoidance turning of the unmanned platform;
adding new path points between the starting path point and the ending path point according to the planned smooth path, and enabling the unmanned platform to move according to the smooth path and all the path points;
evaluating the obstacle avoidance turning quality of the unmanned platform according to the calculated obstacle avoidance turning circle center to obtain a quality evaluation result;
and optimizing the planned path of the unmanned platform according to the evaluation result.
The beneficial effects of the above technical scheme are: the method realizes path planning and quality evaluation of the intelligent unmanned platform obstacle avoidance turn, and solves the problems of complex calculation and large calculation amount in the existing obstacle avoidance turn smooth planning and quality evaluation method.
Further, optimizing the planned path of the unmanned platform according to the evaluation result comprises determining whether the planned path is between the starting path point and the ending path point according to the quality evaluation result of the unmanned platform, and adding new path points again to optimize the motion path of the unmanned platform.
The beneficial effects of the above technical scheme are: the roughly planned obstacle avoidance turning path is corrected and optimized by the method, so that the smoothness of the obstacle avoidance turning path is ensured.
Further, according to the starting path point, the ending path point and the turning radius, calculating the obstacle avoidance turning circle center, specifically comprising: establishing an unmanned platform turning coordinate, taking the initial path point as the origin of coordinates, establishing an equation of a circle according to the rectangular coordinate of the termination path point,
calculating the center of the obstacle avoidance turn according to the equation of the circle and the rectangular coordinate of the termination path point, wherein (x, y) is the center of the obstacle avoidance turn, and (x)0,y0) The rectangular coordinate of the termination path point, R is the turn radius.
Further, the rectangular coordinates of the termination path point are obtained by the following formula:
wherein,respectively a start path point and an end path point.
And further planning a smooth path of the unmanned platform obstacle avoidance turn, specifically comprising planning the smooth path of the unmanned platform obstacle avoidance turn according to the starting path point, the ending path point and the obstacle avoidance turn circle center.
The beneficial effects of the above technical scheme are: the smooth path of the unmanned platform obstacle avoidance turning is simply and effectively planned through the method.
The method further comprises the step that the longitudinal coordinate y of the center of the obstacle avoidance turn circle has two values, when the value of y is larger, the planned smooth path of the obstacle avoidance turn of the unmanned platform is a right turn path, and when the value of y is smaller, the planned smooth path of the obstacle avoidance turn of the unmanned platform is a left turn path.
Further, according to the obstacle avoidance turning circle center obtained by calculation, the obstacle avoidance turning quality of the unmanned platform is evaluated, and the quality evaluation result specifically comprises the following steps: and acquiring real turning track data of the unmanned platform, and evaluating the obstacle avoidance turning quality of the unmanned platform according to the calculated obstacle avoidance turning circle center to obtain a quality evaluation result.
Further, gather unmanned platform's true turn trajectory data to according to the obstacle avoidance turn centre of a circle that calculates and obtain, assess unmanned platform's obstacle avoidance turn quality, specifically include: acquiring real turning track data of the unmanned platform, and establishing an obstacle avoidance turning quality evaluation formula according to the turning track data and the obstacle avoidance turning circle center
Evaluating the obstacle avoidance turning quality of the unmanned platform according to the obstacle avoidance turning quality evaluation formula; wherein, (x, y) is the center of the obstacle avoidance turning circle, R is the turning radius, (x)0,y0),(x1,y1),…(xn,yn) The real turning track data is acquired.
The beneficial effects of the above technical scheme are: by the method, the obstacle avoidance turning quality is accurately evaluated, and a guarantee is provided for correcting and optimizing the obstacle avoidance turning path.
Further, determining whether to add a new path point between the starting path point and the ending path point again according to the quality evaluation result of the unmanned platform, specifically comprising: if the unmanned platform quality evaluation result meets the requirement, new path points do not need to be added between the initial path point and the termination path point, otherwise, new path points need to be added again.
The beneficial effects of the above technical scheme are: the method can continuously optimize the actual obstacle avoidance turning path, so that the path meets the maneuvering stability requirement of the unmanned platform.
Further, establishing unmanned platform turning coordinates specifically comprises: WGS-84 is taken as a coordinate reference system, the east-right direction is an X axis, and the north-right direction is a Y axis.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a turning coordinate of the unmanned platform according to an embodiment of the present invention;
fig. 3 is a simulation diagram of smooth planning of an obstacle avoidance turning path according to the embodiment of the present invention;
fig. 4 is a schematic view of a turning quality evaluation simulation according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Examples
The invention discloses an intelligent unmanned platform path planning method based on obstacle avoidance turning quality evaluation, which has a flow diagram as shown in figure 1, and comprises the following steps:
step S1, calculating the center of an obstacle avoidance turn according to the starting path point, the ending path point and the turning radius, and planning a smooth path of the unmanned platform obstacle avoidance turn;
firstly, performing coordinate conversion, inputting an initial path point as a coordinate origin, and establishing an equation of a circle according to a turning radius; in particular, assume waypointsTo the path pointThe turning radius R (the value of which is related to the performance of the unmanned platform) is required, the origin of a turning circle is (X, Y), and in order to optimize the path from A to B and enable the unmanned platform to be more stable in maneuvering, the WGS-84 is taken as a coordinate reference system, the east direction is an X axis, the north direction is a Y axis, and the units of the X axis and the Y axis are km, the turning coordinate schematic diagram of the unmanned platform is shown in FIG. 2; with the A path point as the origin of coordinates, an equation of a circle is established
Wherein (x)0,y0) Is a rectangular coordinate of B;
secondly, calculating the center of a circle of the obstacle avoidance turn according to the rectangular coordinate of the B; the length of the earth meridian (line from south pole to north pole) is 39940.67km, the length of the equator is 40075.36km, and the rectangular coordinate (x) of B0,y0) Can be obtained by the following formula;
further, from (1), can be obtained
For convenience of calculation, order 4k0＝a,-4k0y0＝b,
Then, a root-finding formula method is adopted, and the turning directivity of the unmanned platform is combined, so that the y-axis coordinate of the circle center can be obtained,
the coordinates of the circle center x can be obtained in the step (3), wherein when y is a large value, the unmanned platform turns right, and when y is a small value, the unmanned platform turns left; after the coordinates (x, y) of the circle center are obtained through calculation, a smooth path of the obstacle avoidance turning on the unmanned platform theory can be planned according to the circle center by taking the starting point of the path point A and taking the path point B as the terminal point;
taking WGS-84 as a coordinate reference system, taking an abscissa as a latitude and a vertical axis as a longitude, performing turning simulation on a path A (f0, q0) by a turning radius R of 100KM to turn to a path point B (f1, q1), wherein R is 100KM, and f0 is 101.4346; q0 ═ 31.2577; f1 ═ 101.3356; q1 ═ 31.1566; as shown in fig. 3, it can be seen from the simulation diagram that two smooth path turning curves, specifically, two situations of left turning and right turning, can be completely designed from the path point a to the path point B under the condition that the turning radius is known;
step S2, adding a plurality of new path points between the starting path point and the ending path point according to the planned smooth path, and enabling the unmanned platform to move according to the smooth path and all the path points;
step S3, evaluating the obstacle avoidance turning quality of the unmanned platform according to the calculated obstacle avoidance turning circle center to obtain a quality evaluation result;
specifically, real turning track data of the unmanned platform, namely parameters such as longitude and latitude of the real turning track of the unmanned platform, are collected, and the obstacle avoidance turning quality of the unmanned platform is evaluated according to the calculated obstacle avoidance turning circle center to obtain a quality evaluation result;
illustratively, the collected real turning track data is (x)0,y0),(x1,y1),…(xn,yn) If so, the obstacle avoidance turning quality evaluation formula is as follows:
the more the real turning track data is acquired, the better the obstacle avoidance turning quality evaluation effect is; during specific implementation, the value of S is calculated by calculating a large amount of acquired turning track data, obviously, the smaller the value of S is, the smaller the difference between the value of the real turning path and the value of the theoretical turning path is, and the better the obstacle avoidance turning quality is at the moment;
and step S4, optimizing the planned path of the unmanned platform according to the evaluation result.
Specifically, according to the quality evaluation result of the unmanned platform, whether the path point is between the starting path point and the ending path point is determined, and a new path point is added again to optimize the motion path of the unmanned platform;
if the quality evaluation result meets the requirement, the new path point does not need to be added again, otherwise, the new path point needs to be added again.
In a specific embodiment, a group of actual turning data of civil aviation flight is taken, the turning quality is evaluated according to the obstacle avoidance turning quality evaluation formula, and a turning quality evaluation simulation schematic diagram is obtained through MATLAB simulation calculation, as shown in FIG. 4; the road stiffness point a is (94.1199111, 29.193641666), the path point B is (94.0401888888, 29.20097777), the turning radius R is 28.1504 nautical miles, the horizontal coordinate in fig. 4 is the number of the collected actual turning data points (the number can be continuously increased), and the vertical coordinate is the turning deviation;
calculating to obtain a left turn deviation (namely, a quality evaluation result) of wucha 1-0.06890.07020.07010.07150.06690.07090.06920.06900.06920.0693, and calculating to obtain a right turn deviation of wucha 2-0.0921-0.0932-0.0907-0.0943-0.0893-0.0931-0.0922-0.0922-0.0923-0.0924; from the left-right turning error analysis, the turning deviation is less than 0.1 nautical miles.
In the civil aviation turning flight, the turning deviation is less than 0.1 nautical miles through the real turning flight data and MATLAB simulation calculation, and in view of the quality evaluation of the real flight turning data, the turning flight quality of the civil aviation passenger plane can be seen to be excellent and accord with the related flight standard.
It should be noted that the method only carries out smoothing processing on the obstacle avoidance turning which the intelligent unmanned platform must face, and realizes turning quality evaluation, and the straight line flight is out of the research range.
The invention provides an intelligent unmanned platform path planning method based on obstacle avoidance turning quality evaluation, which solves the problems of complex calculation and large calculation amount in the existing obstacle avoidance turning smooth planning and quality evaluation method; on one hand, the invention considers the conditions that the unmanned platform cannot fly or walk according to the preset path and the self-flying or walking safety of the unmanned platform is possibly threatened due to the obstacle-avoiding turning radius constraint of the unmanned platform, the possibility that sharp corners cannot be crossed in the path and the like;
the roughly planned obstacle-avoiding turning path is corrected and optimized through an obstacle-avoiding turning path planning method based on the intelligent unmanned platform, so that the path smoothness is ensured, and the path meets the maneuvering stability requirement of the unmanned platform; the method has great significance for avoiding obstacles of intelligent unmanned platforms and improving the flight quality of civil aviation in China; on the other hand, the quality of the obstacle avoidance turning is evaluated, so that the optimization of the consumption-level unmanned aerial vehicle in China also has a great reference value, and the market prospect is wide; therefore, the deep research based on the invention has a particularly important role in improving the development level of the unmanned platform in China.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. An intelligent unmanned platform path planning method based on obstacle avoidance turning quality assessment is characterized by comprising the following steps:
calculating the obstacle avoidance turning circle center according to the starting path point, the ending path point and the turning radius of the unmanned platform, and planning a smooth path of the obstacle avoidance turning of the unmanned platform;
adding new path points between the starting path point and the ending path point according to the planned smooth path, and enabling the unmanned platform to move according to the smooth path and all the path points;
evaluating the obstacle avoidance turning quality of the unmanned platform according to the calculated obstacle avoidance turning circle center to obtain a quality evaluation result;
and optimizing the planned path of the unmanned platform according to the evaluation result.
2. The method of claim 1, wherein optimizing the planned path of the unmanned platform based on the evaluation comprises determining whether to add new path points between the start path point and the end path point to optimize the motion path of the unmanned platform based on the quality evaluation of the unmanned platform.
3. The method according to claim 1, wherein calculating an obstacle avoidance turn circle center according to the start path point, the end path point, and the turn radius specifically comprises: establishing an unmanned platform turning coordinate, taking the initial path point as the origin of coordinates, establishing an equation of a circle according to the rectangular coordinate of the termination path point,
calculating the center of the obstacle avoidance turn according to the equation of the circle and the rectangular coordinate of the termination path point, wherein (x, y) is the center of the obstacle avoidance turn, and (x)0,y0) The rectangular coordinate of the termination path point, R is the turn radius.
4. The method of claim 3, wherein the rectangular coordinates of the end path point are determined by the following formula:
wherein,respectively a start path point and an end path point.
5. The method according to claim 4, wherein planning a smooth path of the unmanned platform obstacle avoidance turn comprises planning a smooth path of the unmanned platform obstacle avoidance turn according to the starting path point, the ending path point and the obstacle avoidance turn circle center.
6. The method as claimed in claim 1, further comprising two values of a vertical coordinate y of the center of the obstacle avoidance turn, wherein when y is a larger value, the planned smooth path of the obstacle avoidance turn of the unmanned platform is a right-turn path, and when y is a smaller value, the planned smooth path of the obstacle avoidance turn is a left-turn path.
7. The method according to claim 1, wherein the obstacle avoidance turning quality of the unmanned platform is evaluated according to the calculated obstacle avoidance turning circle center, and the quality evaluation result specifically comprises: and acquiring real turning track data of the unmanned platform, and evaluating the obstacle avoidance turning quality of the unmanned platform according to the calculated obstacle avoidance turning circle center to obtain a quality evaluation result.
8. The method as claimed in claim 1, wherein the method comprises the steps of collecting real turning track data of the unmanned platform, and evaluating the obstacle avoidance turning quality of the unmanned platform according to the calculated obstacle avoidance turning circle center, and specifically comprises the following steps: acquiring real turning track data of the unmanned platform, and establishing an obstacle avoidance turning quality evaluation formula according to the turning track data and the obstacle avoidance turning circle center
Evaluating according to the obstacle avoidance turning qualityEstimating the obstacle avoidance turning quality of the unmanned platform; wherein, (x, y) is the center of the obstacle avoidance turning circle, R is the turning radius, (x)0,y0),(x1,y1),…(xn,yn) The real turning track data is acquired.
9. The method of claim 2, wherein determining whether to add new path points between the start path point and the end path point according to the quality evaluation result of the unmanned platform comprises: if the unmanned platform quality evaluation result meets the requirement, new path points do not need to be added between the initial path point and the termination path point, otherwise, new path points need to be added again.
10. The method according to claim 3, wherein establishing unmanned platform turn coordinates comprises: WGS-84 is taken as a coordinate reference system, the east-right direction is an X axis, and the north-right direction is a Y axis.
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Application publication date: 20190215 |