CN110487272A - A kind of rotor wing unmanned aerial vehicle economized path optimization method of dog leg path camber line - Google Patents
A kind of rotor wing unmanned aerial vehicle economized path optimization method of dog leg path camber line Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of rotor wing unmanned aerial vehicle economized path optimization methods of dog leg path camber line, dog leg path is converted to arc path to advanced optimize the broken line economized path program results of existing rotor wing unmanned aerial vehicle so that the rotor wing unmanned aerial vehicle energy consumption of flying over the paths is less by this method.Increase the cruising ability of rotor wing unmanned aerial vehicle, improves the energy constraint situation of rotor wing unmanned aerial vehicle in the application.It is proposed by the present invention by the way that dog leg path is converted to the method that arc path optimizes come the broken line economized path further to rotor wing unmanned aerial vehicle, it can be applied in the application of rotor wing unmanned aerial vehicle auxiliary traversal task point, it plays and reduces flight energy consumption, improve the effect of the task performance of single charge.
Description
Technical field
The invention belongs to unmanned plane energy-saving application technical fields, are related to a kind of rotor wing unmanned aerial vehicle of dog leg path camber line
Economized path optimization method.
Background technique
Path planning is the main means that flight energy consumption is reduced in rotor wing unmanned aerial vehicle application.Effective economized path optimization
Method can further enhance the cruising ability of rotor wing unmanned aerial vehicle, improve the application effect of rotor wing unmanned aerial vehicle, and it is empty to expand its application
Between.
In path planning, which kind of feature of path selection has conclusive shadow to program results as planning basis
It rings.It is existing using path planning come in the research of the flight energy optimization to rotor wing unmanned aerial vehicle often with flight accessed node
Linear distance between (or path point) is as planning basis, using flight total distance as optimization aim.Think flying distance most
Excellent solution is exactly energy consumption optimal solution.Although some new departures are proposed on the basis of the planning of existing economized path in the recent period, such as in data
It collects in application and accessed node number is reduced to further decrease the flight energy consumption of unmanned plane by the methods of sub-clustering；And knot
The communication range of conjunction task point further decreases the flight energy consumption of unmanned plane；Etc..But the essence of these improvement projects is still
It is by shortening flight total distance in conjunction with practical application feature.Be again based on flying distance optimal solution be exactly energy consumption most
Excellent solution.It is seen that implicit premise is that the flying distance the short using flying distance optimal solution as when energy consumption optimal solution, fly
Energy consumption is smaller.By common physical knowledge it can be appreciated that be not in ecotopia, nor when unaccelerated flight, this
Premise is clearly to be difficult to set up.
In the application of actual rotor wing unmanned aerial vehicle, task path is also strictly tortuous change, this leads to operation flight
It really is not uniform rectilinear；Actual task environment is obviously also impossible to be ecotopia.Therefore, as 50 meters of round-trip run are wanted
The race of than 100 meters straight lines more consume one's strength it is the same, actual rotor wing unmanned aerial vehicle in-flight, flight energy when flying distance is shorter
Consumption is also not necessarily small, and flight energy consumption when flying distance is longer is also not necessarily big.
Summary of the invention
For the deficiencies in the prior art, the object of the present invention is to provide a kind of rotations of dog leg path camber line
Wing unmanned plane economized path optimization method solves unmanned plane energy consumption excessive skill when flight in dog leg path in the prior art
Art problem.
In order to solve the above-mentioned technical problem, the application, which adopts the following technical scheme that, is achieved:
A kind of rotor wing unmanned aerial vehicle economized path optimization method of dog leg path camber line, comprising the following steps:
Step 1, by the path point set P={ p in unmanned plane dog leg pathi| i=1,2 ..., n in first road
Diameter point p1With second path point p2It is put into the L of camber line path；The path point set P is ordered set, in path point
One element p of last increase of set Pn+1, element pn+1Value and p1It is identical；
Step 2, i=2 is taken；
Step 3, if line segment pi-1piWith line segment pipi+1Collinearly, 7 are thened follow the steps；Otherwise, step 4 is executed；
Step 4, with line segment pi-1piFor tangent line, path point piFor point of contact, with path point pi+1It is r that radius is drawn in the same side
Circle o1；With line segment pipi+1For tangent line, path point pi+1For point of contact, with path point pi-1Opposite side draws the circle that radius is r
o2；
Step 5, if the value set R={ 1 ..., n } of radius r, each of set R={ 1 ..., n } is worth and is made
Step 51 is repeated to step 52 for radius r；
Step 51, in circle o1With circle o2A plurality of common tangential in, select a tangent line l, tangent line l that need to meet simultaneously following
Two conditions:
(1) tangent line l and line segment pipi+1Intersection；
(2) tangent line l and circle o1Point of contact in line segment pipi+1And pi-1Opposite side；
Step 52, tangent line l and circle o are taken1Point of contact pnWith tangent line l and circle o2Point of contact pp；Take round o1String pipnIn path
Point ppThe arc C of opposite side1；Take round o2String pppi+1In path point pnThe arc C of opposite side2；Arc C1, line segment pnpp, arc C2Constitute arc
Line C；1 meter of point taken on camber line C as path point and is stored in set M at equal intervalsrIn；
Step 6, if set MrThe middle the smallest path M of energy consumptionminEnergy consumption be less than unmanned plane be directly over line segment pipi+1's
Energy consumption, then by path MminIn the last one path point remove, then be stored in camber line path L in；Otherwise, step 7 is executed；
Step 7, by path point pi+1It is stored in the L of camber line path；
Step 8, i=i+1；Step 3 is gone to if i is less than or equal to n, otherwise, obtained camber line path L is
For the economized path of camber line.
Compared with prior art, the present invention beneficial has the technical effect that
1, the present invention is when carrying out energy saving optimizing to rotor wing unmanned aerial vehicle flight path, except through existing method to task
Outside the access order bring energy consumption of point optimizes, going back while increasing to path is camber line bring energy of different shapes
Consumption optimizes.To further reduced the energy consumption of institute's planning path, the continuation of the journey energy of rotor wing unmanned aerial vehicle single charge is increased
Power.
2, the present invention is the optimization to path shape, relatively independent with the concrete application scene of economized path planning, is being revolved
It can be used well in the application of wing unmanned plane auxiliary traversal task point, play raising efficiency, increase the effect of cruising ability
Fruit.
Detailed description of the invention
Fig. 1 is application scenarios schematic diagram；
Fig. 2 is actual consumption comparative experiments design diagram；
Fig. 3 is unmanned plane corner and energy consumption relational graph；
Fig. 4 is unmanned plane rectilinear flight distance and energy consumption relational graph；
Fig. 5 is flying distance and energy consumption relationship during corner；
Fig. 6 is polygonal arc flight corner and arc radius relationship；
Fig. 7 is path arc radius and energy consumption relationship；
Fig. 8 is dog leg path camber line schematic diagram；
Fig. 9 is the optimal camber line of point-to-point transmission under determining arc radius；
Figure 10 is the total energy consumption comparison diagram of PPDEC, PPDAEC and PPCEC institute planning path under different distributions；
Figure 11 is the average energy consumption comparison diagram of PPDEC, PPDAEC and PPCEC planning path under different interstitial contents；
Explanation is further explained in detail to particular content of the invention below in conjunction with drawings and examples.
Specific embodiment
Specific embodiments of the present invention are given below, it should be noted that the invention is not limited to implement in detail below
Example, all equivalent transformations made on the basis of the technical solutions of the present application each fall within protection scope of the present invention.
Embodiment:
The present embodiment provides a kind of rotor wing unmanned aerial vehicle economized path optimization method of dog leg path camber line, including following
Step:
Step 1, by the path point set P={ p in unmanned plane dog leg pathi| i=1,2 ..., n in first road
Diameter point p1With second path point p2It is put into the L of camber line path；Path point set P is ordered set, in path point set P
One element p of last increasen+1, element pn+1Value and p1It is identical；
In the application of rotor wing unmanned aerial vehicle, rotor wing unmanned aerial vehicle is to complete to fly according to the GPS coordinate sequence pre-set
Capable.Due to civilian GPS positioning accuracy in the preferable situation of environment also greater than 1 meter, when the distance between coordinate points are less than
At 1 meter, the case where unmanned plane will appear " shake " before and after original place.So being the flight path of unmanned plane setting in practical application
The distance of point-to-point transmission should be not less than 1 meter in point sequence.That is the path of unmanned plane cannot reach real camber line.It can only
It goes to approach as far as possible, polygonal arc (one just all deformed that line segment that is identical with several length and being linked in sequence forms
Point) removing simulation camber line, wherein arbitrary neighborhood two lines section angle on tie point is all identical.Therefore, actual camber line
Change process is to carry out interpolation to path point sequence P, the path point sequence L after obtaining interpolation.So here the initial value of P be exactly to
The dog leg path point sequence of camber line.It flies all to be not present to any direction due to starting point and turn to, p1And p2Between straight line
Most energy-efficient when Duan Feihang, it does not need interpolation between two and becomes camber line.
Camber line is carried out to by the route segment of the last one path point to starting point for convenience, is increased at the end in path
One path point, value is as first path point.Path is allowed to constitute an annular.
Step 2, i=2 is taken；
Step 3, if line segment pi-1piWith line segment pipi+1Collinearly, 7 are thened follow the steps；Otherwise, step 4 is executed；
Step 4, with line segment pi-1piFor tangent line, path point piFor point of contact, with path point pi+1It is r that radius is drawn in the same side
Circle o1；With line segment pipi+1For tangent line, path point pi+1For point of contact, with path point pi-1Opposite side draws the circle that radius is r
o2；
Step 5, if the value set R={ 1 ..., n } of radius r, each of set R={ 1 ..., n } is worth and is made
Step 51 is repeated to step 52 for radius r；In this way, the camber line using different radii carries out camber line search, finding you can well most
Small camber line route segment；
Step 51, in circle o1With circle o2A plurality of common tangential in, select a tangent line l, tangent line l that need to meet simultaneously following
Two conditions:
(1) tangent line l and line segment pipi+1Intersection；
(2) tangent line l and circle o1Point of contact in line segment pipi+1And pi-1Opposite side；
Step 52, tangent line l and circle o are taken1Point of contact pnWith tangent line l and circle o2Point of contact pp；Take round o1String pipnIn path
Point ppThe arc C of opposite side1；Take round o2String pppi+1In path point pnThe arc C of opposite side2；Arc C1, line segment pnpp, arc C2Constitute arc
Line C；1 meter of point taken on camber line C as path point and is stored in set M at equal intervalsrIn；
Step 6, if set MrThe middle the smallest path M of energy consumptionminEnergy consumption be less than unmanned plane be directly over line segment pipi+1's
Energy consumption, then by path MminThe last one point remove, then be stored in camber line path L in；Otherwise, step 7 is executed；
Differentiate whether found arc path section than winged straightway more saves energy consumption, retains if more saving energy consumption
The arc path, otherwise directly uses straightway.
Step 7, by path point pi+1It is stored in the L of camber line path；
Step 8, i=i+1；Step 3 is gone to if i is less than or equal to n, otherwise, obtained camber line path L is
For the economized path of camber line.
Successively broken line route segment carries out camber line to the present invention.Since rotor wing unmanned aerial vehicle at this time is in every section of dog leg path section
The heading of starting point be the direction for having flown adjacent previous route segment, this route segment is flown with regard to different with straightway at this time
It surely is that energy consumption is least, therefore will carry out camber line according to the actual situation.
Basis of the invention is between path corner and energy consumption the characteristics of relationship: big corner is divided into several small angle towers
When realizing steering, energy consumption can be reduced.Obviously the limiting case divided here is exactly camber line, that is to say, that by one containing corner
Flight path is replaced with camber line flight path appropriate can be more energy efficient.
And in the application scenarios of rotor wing unmanned aerial vehicle auxiliary, one time task execution process can be described as: unmanned plane is from out
Hair point (such as service station) sets out, and accesses the task point of all static deployment, task is completed under state of flight, is finally returned to
Starting point prepares next round task execution (as shown in Figure 1).And these task points can according to actual needs branch in mission area
In range, will not generally it be completely on straight line.
These task points are seen the vertex of mapping, the part of path that can be flown between any two task point sees mapping
Side.It is exactly a ring in this complete graph that then rotor wing unmanned aerial vehicle, which executes the path of a wheel task,.And required energy consumption and this
Corner size contained in the length in path and path has close relationship.
The corner of rotor wing unmanned aerial vehicle and energy consumption relationship are measured first.Such as Fig. 2, the flying speed v of unmanned plane is set
=4.5m/s (flying speed in application will be also identical with this), allows unmanned plane along the rectilinear flight of the direction AB, then turns θ at B
Angle (θ successively selects 0 °, 30 °, 60 °, 90 °, 120 °, 150 ° and 180 °), is further continued for along the rectilinear flight of the direction BC.In order to make
Unmanned plane turns different angle under the desired speed energy consumption is comparable, need to guarantee unmanned plane in every kind of corner
In the case of, the starting point A of energy consumption calculation and the flying speed at end point C are desired speed, it is also necessary to the distance of path ABC
It is all equally long under different steering angles.In order to meet the requirement of above-mentioned two o'clock, point A and point C are selected as follows: for θ=
0 °, 30 °, 60 °, 90 °, 120 °, 150 °, 180 ° of this 7 kinds of situations measure unmanned plane respectively and slow down since desired speed
The critical point A of flight0, A30, A60, A90, A120, A150, A180With the critical point C for accelerating to desired speed since B0, C30,
C60, C90, C120, C150, C180.Then in { A0B, A30B, A60B, A90B, A120B, A150B, A180B } in select longest distance, as
The distance of AB；In { BC0, BC30, BC60, BC90, BC120, BC150, BC180In select longest distance, the distance as BC.According to
Analysis of experimental data obtains AB=4m, and BC=27m (is obtained) after rounding up.
Respectively to unmanned plane along the direction AB rectilinear flight 4m, then at B point turn to θ angle (θ=0 °, 30 °, 60 °,
90 °, 120 °, 150 °, 180 °), it is then repeated 50 times along the flight experiment of BC rectilinear flight 27m again, calculates every kind of corner situation
Under energy consumption of the average energy consumption as the corner, then to corner and average energy consumption carry out quadratic fit obtain it is as shown in Figure 3
Energy consumption and angle relation.
Secondary, the primary and constant term coefficient of institute's polynomial fitting be followed successively by 4.246e-6,1.7738e-4 and
0.18793, the value of constant term is just that 0.188 watt-hour of flight energy consumption of zero i.e. rectilinear flight 31m extremely connects with corner
Closely.This also illustrate we the total energy consumption of turning can be approximately considered be by unmanned plane rectilinear flight 31m energy consumption and turn to energy
Consumption is constituted.Total energy consumption is so subtracted to the energy consumption of partial straight lines flight, so that it may obtain unmanned plane in desired speed v=
Under 4.5m/s, energy consumed by different steering angles.From figure 3, it can be seen that steering angle is bigger, energy consumption is bigger, and turns
It is very close to the truthful data of angle and energy consumption and the conic section that is fitted.Therefore it can pass through the secondary expression
Formula calculates steering energy consumption at any angle, then the constant term removed in expression formula just obtains unmanned plane steering angle and energy
The relational model of consumption are as follows:
fv(θ)=(4.246*10-6)θ2+(1.7738*10-4)θ (1)
Secondly, the flying distance and energy consumption relationship to rotor wing unmanned aerial vehicle are measured.Still unmanned plane is allowed it is expected to fly
Speed v=4.5m/s measures its flight 1m, 2m by 50 flight experiments respectively along rectilinear flight ... the average energy consumption of 31m
(as shown in Figure 4), flight energy consumption are substantially proportional to rectilinear flight distance.Then linear fit, fitting result one are carried out
Secondary term coefficient is 0.006, constant term 3.01723444781610e-05.Here constant term is in close proximity to zero, therefore will
It is cast out.Unmanned plane is finally obtained under the velocity linear flight progress, rectilinear flight distance and the relationship of energy consumption are
gv(d)=0.006d (2)
Then according to gv(d) can calculate corner composition apart from each of energy consumption matrix B value.
From figure 3, it can be seen that wanting score to complete at multiple small angle towers with a big corner completion when turning equal angular
More consume energy.When divided small angle tower is further segmented, limiting case is exactly camber line.That is when camber line flight, pure steering
Bring energy consumption can be the smallest.But when the length of camber line is than directly turning big angle at this time, the length on two sides at angle is long,
Therefore it will increase flight energy consumption in flying distance.Thus we it can be concluded that, be not arbitrary camber line flight be all energy consumption
Fewer.Arc path than corresponding dog leg path less energy consumption should be particular path appropriate.
In the application of rotor wing unmanned aerial vehicle, unmanned plane is to complete to fly according to the GPS coordinate sequence pre-set
's.Due to civilian GPS positioning accuracy in the preferable situation of environment also greater than 1 meter, when the distance between coordinate points are less than 1
The case where meter Shi, unmanned plane will appear original place front and back " shake ".So being the flight path point of unmanned plane setting in practical application
The distance of point-to-point transmission should be not less than 1 meter in sequence.That is the path of unmanned plane cannot reach real camber line.We are only
It can go to approach as far as possible, the polygonal arc that line segment that is identical with several length and being linked in sequence forms removes simulation camber line,
In, arbitrary neighborhood two lines section angle on tie point is all identical.
After realizing steering with polygonal arc, it is complete that arc length involved in each corner is not just that previous experiments measure
The occupied distance in turn over angle (31 meters).Therefore we to during the corners of various angles respectively in 1m, 2m ... 31m's
Average energy consumption delta data is analyzed, and during the corner for finding every kind of angle, energy consumption variation is to approach uniformly, such as
Shown in Fig. 5.As can be seen that, with the increase of corner flying distance, energy consumption is proportional in the case where every kind of corner size in figure
Increase relationship.Then, the flight list in the case of every kind of corner can be calculated according to the data that front practical flight is tested
Energy consumption when bit length.
Geometrical relationship such as Fig. 6 of the corresponding radius of curvature of corner on polygonal arc side edge.
The corresponding polygonal arc side of different arc radius can be calculated in unmanned plane during flying path along corner size, i.e. ∠
The size of BAC.Since polygon is a regular polygon, so ∠ OAC=∠ OBD, then when ∠ OAC rotates ∠ along O point
It is just overlapped with ∠ OBD after AOB.AC has rotated to the position BD at this time, and corner is ∠ BAC, the rotation angle ∠ of it and entirety
AOB is equal.And ∠ AOB can be calculated by radius r and polygonal side length.
Then, pair radius is 1 meter, and 2 meters along corner and fly 70 meters of correspondences of identical arc length until 50 meters of arc corresponding sides
Energy consumption calculated.Here setting the side length of polygon is just 1 meter, and different corner and can be with apart from bring energy consumption
It is calculated with the expression formula of a section, then the formula calculated is exactly to remember unit length camber line using radius r as the function of independent variable
Energy consumption formulas is feIt (r), then here only need to be multiplied by coefficient 70.Calculate corresponding power consumption values and by calculated result with
Graphics mode provides (such as Fig. 7).When can be seen that identical arc length in figure, radius of curvature is smaller, required energy consumption of flying
It is bigger.And change when radius is less than 10 meters obviously, and gradually become after radius is greater than 10 meters very gentle.It is meant that working as
Radius increases above that energy-saving effect after some value can be deteriorated or even energy consumption increases, because radius causes distance to increase band after increasing
The energy consumption come also is increasing.
It can prove that in the path being formed by connecting by two sections of paths if two sections of path shapes before and after inflection point determine
Afterwards, when inflection point is the total point of contact in its two sections of path in front and back, it is minimum that unmanned plane flies over energy consumed by this section of path.
So after the line segment between the two o'clock in broken line is become arc segment, if this arc segment is adjacent thereto
Arc segment is cut altogether at tie point, then at this time unmanned plane fly over two sections of camber lines energy consumption it is minimum.Then, true in search
When fixed such arc segment, so that it may search for camber line and adjacent arc segment is those of to cut altogether at tie point.This is just
It is required that first to know two sections of arcs adjacent thereto in the tangential direction of tie point position when searching for the camber line.But so
It will form a cycle deadlocks, because the arc segment in path is neighbouring relations each other.
Analysis is found, is that no direction limits in start position, which direction to be flown energy consumption to and be just as.This be because
There is no the reason of predecessor task point for it, i.e. starting point is zero without corner, corner energy consumption.So, for each section in path
For, if its last period camber line be it is determining, the direction of the starting point of this section of camber line can very easily determine, i.e.,
Its corner energy consumption also determines therewith.Then, we just allow each of path arc segment end direction and former broken line in should
The end direction in section path keeps the same.The camber line of route segment each in this way, which determines, just becomes independent.The side of its initial position
To consistent with the broken line end direction of the preceding paragraph in path；End direction broken line corresponding with the camber line end of arc segment
Direction is consistent.As shown in the figure.
However, the arc shape in similar figure is not unique.Machine realizes optimum search for ease of calculation, first assumes single
Arc radius in a arc segment is definite value, to discuss the optimal arc shape of energy consumption.It is as shown in the figure: it can be found that circular arc is whole
Camber line is that energy consumption is optimal when a arc segment most both ends.Route segment n i.e. in figureia2b1njIt is energy consumption optimal path section.
Dotted line is done in such as figure as after auxiliary line, it was demonstrated that be obvious.
Experimental verification:
Existing be used alone is abbreviated as by the present invention apart from the method as economized path planning basis combination Greedy strategy
PPDEC；The method of Greedy strategy is abbreviated as PPDAEC in conjunction with distance being combined as economized path planning basis using corner；
And " a kind of rotor wing unmanned aerial vehicle economized path optimization method of dog leg path camber line " used in the present invention advises PPDAEC
It draws after route result is advanced optimized and is abbreviated as PPCEC.Then, one 90,000 square metres of square mission area is simulated
1 service station, n task node of random placement, the unmanned plane phase of setting are disposed in domain, designated position (0,0) in this region
Prestige flying speed is experience energy conservation flying speed v=4.5m/s.
Emulation 1 carries out the energy-saving effect of the method for the present invention planning in the case of same task point number, different distributions
Verifying.
100 different random placements have been carried out to 50 task points, for each deployment scenario, use respectively more than
Three kinds of methods carry out coordinates measurement, and are compared to obtained path.As Figure 10 gives flight obtained by three kinds of distinct methods
The path total energy consumption correlation curve required in flight.
Which kind distribution horizontal axis indicates in figure, and the longitudinal axis indicates the path flight energy consumption under corresponding distribution.Solid line indicates
The flight energy consumption of PPDEC planning path；Small line segment dotted line indicates the flight energy consumption of PPDAEC planning path；Pecked line indicates
The flight energy consumption of PPCEC planning path.As can be seen that the path of PPCEC planning flies regardless of in the case where which kind of is distributed
Row energy consumption be all it is least, the flight energy consumption in the path than being planned by using PPDAEC is averagely few by 7.22%, than by using
The flight energy consumption in the path of PPDEC planning averagely lacks 10.33%.Show that the method in the present invention really can be more stable
The flight energy consumption of doubling thread path optimizes.
Emulation 2, different task point number in the case of different distributions, are tested the energy-saving effect of the method for the present invention planning
Card.
Simulation comparison has been done to performance of three kinds of different methods under different task interstitial content scene respectively.Specifically
For from 30,35 ..., 100 kinds of differences in the case of the 9 kinds of different task node numbers and every kind of node number in 70 nodes
900 kinds of different situations in total of distribution carry out simulation comparison.It has been respectively compared the total energy consumption in their looked for paths.Figure 11 is provided
PPCEC, PPDAEC and PPDEC tri- kinds of methods are in different task interstitial content, gained flight road under 100 kinds of different distributions
The average total energy consumption curve comparison required in flight of diameter.
Horizontal axis indicates that interstitial content, the longitudinal axis indicate the path average flight energy consumption under corresponding node number in Figure 11.Solid line
Indicate the average flight energy consumption in the path using PPDEC planning；Small line segment dotted line is indicated using the flat of the path planned PPDAEC
Flight energy consumption；Pecked line indicates the average flight energy consumption in the path using PPCEC optimization.As can be seen that regardless of in which kind of section
Count purpose in the case of, the flight energy consumption in the path after being optimized by using the method for the present invention be all it is least, than by using
The flight energy consumption in the path of PPDEC planning averagely lacks 7.2%, standard deviation 0.32%, than the logical path using PPDAEC planning
Flight energy consumption averagely lack 10.71%, standard deviation 0.41%.Path after showing inventive method optimization can be more stable
Accomplish more save flight energy.
Claims (1)
1. a kind of rotor wing unmanned aerial vehicle economized path optimization method of dog leg path camber line, which comprises the following steps:
Step 1, by the path point set P={ p in unmanned plane dog leg pathi| i=1,2 ..., n in first path point p1
With second path point p2It is put into the L of camber line path；The path point set P is ordered set, the point set P in path
Finally increase an element pn+1, element pn+1Value and p1It is identical；
Step 2, i=2 is taken；
Step 3, if line segment pi-1piWith line segment pipi+1Collinearly, 7 are thened follow the steps；Otherwise, step 4 is executed；
Step 4, with line segment pi-1piFor tangent line, path point piFor point of contact, with path point pi+1Draw the circle that radius is r in the same side
o1；With line segment pipi+1For tangent line, path point pi+1For point of contact, with path point pi-1Opposite side draws the circle o that radius is r2；
Step 5, if the value set R={ 1 ..., n } of radius r, by each of set R={ 1 ..., n } value as half
Diameter r repeats step 51 to step 52；
Step 51, in circle o1With circle o2A plurality of common tangential in, select a tangent line l, tangent line l that need to meet following two simultaneously
Condition:
(1) tangent line l and line segment pipi+1Intersection；
(2) tangent line l and circle o1Point of contact in line segment pipi+1And pi-1Opposite side；
Step 52, tangent line l and circle o are taken1Point of contact pnWith tangent line l and circle o2Point of contact pp；Take round o1String pipnIn path point ppPhase
The arc C to toss about1；Take round o2String pppi+1In path point pnThe arc C of opposite side2；Arc C1, line segment pnpp, arc C2Constitute camber line C；Deng
The 1 meter of point taken on camber line C in interval as path point and is stored in set MrIn；
Step 6, if set MrThe middle the smallest path M of energy consumptionminEnergy consumption be less than unmanned plane be directly over line segment pipi+1Energy consumption,
Then by path MminIn the last one path point remove, then be stored in camber line path L in；Otherwise, step 7 is executed；
Step 7, by path point pi+1It is stored in the L of camber line path；
Step 8, i=i+1；Step 3 is gone to if i is less than or equal to n, otherwise, obtained camber line path L is camber line
The economized path of change.
Priority Applications (1)
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