WO2020147072A1 - 轨迹生成方法、轨迹生成装置和无人机 - Google Patents

轨迹生成方法、轨迹生成装置和无人机 Download PDF

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Publication number
WO2020147072A1
WO2020147072A1 PCT/CN2019/072198 CN2019072198W WO2020147072A1 WO 2020147072 A1 WO2020147072 A1 WO 2020147072A1 CN 2019072198 W CN2019072198 W CN 2019072198W WO 2020147072 A1 WO2020147072 A1 WO 2020147072A1
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point
end point
acceleration
speed
start point
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PCT/CN2019/072198
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English (en)
French (fr)
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于云
贾向华
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/072198 priority Critical patent/WO2020147072A1/zh
Priority to CN201980005315.6A priority patent/CN111279285A/zh
Publication of WO2020147072A1 publication Critical patent/WO2020147072A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present disclosure relates to the field of drones, and in particular to a trajectory generation method, a trajectory generation device and a drone.
  • Bezier curves are generally used to generate trajectories.
  • a first-order Bezier curve requires two control points, which can be used to describe a straight line and used as a method for generating a straight line trajectory.
  • the Er curve requires three control points, which can be used to describe the curve and used as a method of UAV curve trajectory.
  • the related technology mainly uses a combination of a first-order Bezier curve and a second-order Bezier curve to generate a trajectory containing straight lines and curves.
  • the present disclosure provides a trajectory generating method, a trajectory generating device and an unmanned aerial vehicle to overcome technical problems in related technologies.
  • a method for generating a trajectory including:
  • the motion trajectory of the object is generated according to the constraint condition group, wherein the curvature of the motion trajectory is continuous.
  • a trajectory generation device which includes one or more processors working individually or in cooperation, and the processors are used for:
  • the motion trajectory of the object is generated according to the constraint condition group, wherein the curvature of the motion trajectory is continuous.
  • an unmanned aerial vehicle which includes the trajectory generating device described in any of the foregoing embodiments.
  • Fig. 1 is a schematic flowchart showing a method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 2 is a schematic flow chart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 3 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 4 is a schematic flowchart showing yet another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 5 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 6 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 7 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 8 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 9 is a schematic flowchart showing yet another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 10 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 11 is a schematic flowchart showing yet another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 12 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • Fig. 1 is a schematic flowchart showing a method for generating a trajectory according to an embodiment of the present disclosure.
  • the trajectory generation method shown in this embodiment can be applied to unmanned equipment, such as drones, unmanned vehicles, unmanned ships, etc., and can also be applied to equipment capable of communicating with unmanned equipment, such as remote controls, mobile Terminals, cloud servers, etc., after generating the motion trajectory, send it to the unmanned driving device for the unmanned driving device to move according to the generated motion trajectory.
  • unmanned equipment such as drones, unmanned vehicles, unmanned ships, etc.
  • equipment capable of communicating with unmanned equipment such as remote controls, mobile Terminals, cloud servers, etc.
  • the trajectory generation method may include the following steps:
  • Step S1 determine the start point and the end point
  • Step S2 constructing a constraint condition group of the starting point and the ending point according to the starting point and the ending point;
  • Step S3 generating a motion trajectory of the object according to the constraint condition group, wherein the curvature of the motion trajectory is continuous.
  • the continuous curvature of the motion trajectory includes two cases in which the curvature of the motion trajectory remains unchanged and the curvature of the motion trajectory changes continuously.
  • the curvature of the motion trajectory remains unchanged, including the cases where the motion trajectory is a straight line and the motion trajectory is a circle.
  • the acceleration of the UAV flying according to the motion trajectory remains unchanged;
  • the motion trajectory is a circle, the acceleration of the UAV flying according to the motion trajectory changes continuously, specifically the size and direction Continuous change. That is, under the condition that the curvature of the motion trajectory remains unchanged, the acceleration of the drone flying according to the motion trajectory is either unchanged or continuously changes.
  • the curvature of the motion trajectory changes continuously, so the acceleration of the drone flying according to the motion trajectory also changes continuously, for example, the magnitude of the acceleration continuously changes, and the direction also changes continuously.
  • the generated motion trajectory based on the related technology includes a straight line segment AC from the start point A and a semicircle CB with a radius of 4. Then, at the junction of the straight line segment and the semicircle, that is, point C, The curvature changes from 0 to 1/4, then when the object moves along the trajectory with velocity v, the acceleration at point C changes from 0 to v 2 /4.
  • the generated motion trajectory curvature is continuous, then from point A to point C, and from point C to point B, the curvature can continuously change, for example, from point A to point C is still a straight line segment,
  • the curvature is 0, and from point C to point B, the curvature gradually increases from 0 to 1/4.
  • the curvature can be gradually increased from 0 to 1/16, and then gradually increased from 1/16 to 1/8, from 1 /8 gradually increases to 1/4, so that the curvature changes continuously.
  • the acceleration gradually increases from 0 to v 2 /16, and then to v 2 /8, and then It gradually increases to v 2 /4, and the direction of acceleration gradually changes from no direction (for example, from infinity) to the center of the semicircle.
  • the acceleration by generating a motion trajectory with continuous curvature, when an object moves along the motion trajectory, the acceleration can remain unchanged or can be continuously changed, thereby ensuring that the acceleration does not change suddenly. Accordingly, when the acceleration of the object is changed, the structure that provides power in the object does not need to greatly change the working state in a short time, so as to avoid the vibration of the object during the movement and ensure the stable movement of the object.
  • Fig. 2 is a schematic flow chart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • the construction of the constraint condition group of the start point and the end point according to the start point and the end point includes:
  • Step S21 Obtain the first position of the object at the start point and the second position of the end point, predict the transit time of the object from the start point to the end point, and predict the first speed and the end point at the start point. At the second speed at the end point, predict the first acceleration at the start point and the second acceleration at the end point;
  • Step S22 constructing according to the transit time, the first position of the starting point, the second position of the ending point, the first speed, the second speed, the first acceleration, and the second acceleration The constraint condition group.
  • the start point and the end point can be determined, wherein the drone can determine the start point and the end point autonomously, or can determine the start point and the end point according to the indication information used to indicate the start point and the end point.
  • the unmanned aerial vehicle can determine the starting point and the end point according to preset location information, or according to the instruction information input by the user, which is not limited here.
  • the first speed and the second speed may be equal, for example, the first speed and the second speed may be determined according to a preset speed value. Furthermore, according to the length of the path between the start point and the end point, the path time from the start point to the end point can be predicted.
  • the first acceleration and the second acceleration may be different according to the relationship between the intermediate point in the waypoint except the start point and the end point and the straight line segment from the start point to the end point, and the fitting curve where the start point and the end point are passed.
  • the first acceleration and the second acceleration can be predicted to be zero.
  • the first acceleration can be predicted according to the curvature of the fitting curve at the starting point, intermediate point and end point, and the second acceleration can be predicted according to the curvature of the fitting curve at the end point.
  • the curvature of the fitting curve at the starting point is 1/r1
  • the preset velocity value is v
  • the first acceleration is v 2 /r1.
  • the first position pos A of the starting point A, the second position pos B of the end point B can be determined, and the transit time T, the first speed vel A , the second speed vel B , the first acceleration acc A , the first Second acceleration acc B , and then a constraint condition group can be constructed based on these values, and the motion trajectory of the object can be generated according to the constraint condition group.
  • the specific method of generating the motion trajectory is described in the subsequent embodiments.
  • Fig. 3 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • the constraint condition group is a polynomial constraint condition group related to time, wherein the highest power of the polynomial is an odd number greater than or equal to 5; wherein, the object is generated according to the constraint condition group
  • the trajectories include:
  • Step S31 Determine the polynomial according to the constraint condition group
  • Step S32 generating the motion trajectory according to the polynomial.
  • 6 constraint conditions can be formed, that is, 6 constraint conditions can be constructed.
  • the group of constraints In order to solve the above-mentioned constraint condition group containing 6 constraint conditions, the highest power of the polynomial with respect to time in this embodiment may be 5.
  • the rate of change of the acceleration can be predicted, and even the rate of change of the rate of change, or even a further rate of change, can be obtained.
  • more constraints and constraints can be obtained. They are all for the starting point and the end point, so in addition to the number of constraints as described above, it can be 6, or 8, that is, it also includes the change of the first acceleration and the second acceleration, or it can be 10.
  • the output value of the polynomial is the position
  • the output value of the first derivative of the polynomial is the speed
  • an equation system containing 6 equations can be constructed as the constraint condition group, based on the The equation system can solve the 6 unknowns of a, b, c, d, e, f in the polynomial, and then the polynomial can be determined.
  • the polynomial is a polynomial with time as the independent variable. Since the output value of the equation obtained by seeking the first-order derivative with time is the speed, the output value of the equation obtained by seeking the second-order derivative with time is the acceleration, which is obtained according to this embodiment
  • the second derivative of the polynomial with respect to time is continuous, so the acceleration is continuously changing. According to this, the trajectory of the polynomial is used as the trajectory of the object to ensure that when the object moves along the trajectory, the acceleration can be Remain unchanged, or can be changed continuously, so that the acceleration will not change suddenly.
  • Fig. 4 is a schematic flowchart showing yet another method for generating a trajectory according to an embodiment of the present disclosure. As shown in FIG. 4, the predicting the transit time of the object from the start point to the end point includes:
  • Step S211 Predict the transit time of the object from the start point to the end point according to the first position, the second position and the preset speed value.
  • the time to move from the first position to the second position according to the preset speed value is the path time, so the path time can be calculated by dividing the distance from the first position to the second position by the preset speed value .
  • the distance from the first position to the second position can be the distance from the first position to the second position along a straight line, or it can be from the first position to the second position along a curve of a preset shape. Distance.
  • Fig. 5 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure.
  • the preset speed is a preset unit speed
  • Step S2111 Predict the transit time of the object from the start point to the end point according to the distance from the first position to the second position and a preset speed value.
  • the path time can be calculated for the distance from the first position to the second position along a straight line, then the distance from the first position to the second position is from the first position to the second position The distance, and then the path time can be calculated by dividing the distance from the first position to the second position by the preset speed value.
  • the preset speed value is a preset unit speed value.
  • it can be 1m/s, and the value of the path time calculated based on this is equal to the value of the distance from the first position to the second position, which is beneficial to simplify the calculation process.
  • Fig. 6 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure. As shown in Figure 6, if the waypoint does not include an intermediate point outside the straight line from the start point to the end point, the predicted first speed at the start point and the second speed at the end point include :
  • Step S212 Predict the direction of the first speed and the direction of the second speed according to the vector difference between the second position and the first position.
  • the waypoints can be pre-stored or received in real time.
  • Each waypoint can be pre-marked with a serial number, and the starting point, ending point and intermediate point can be determined according to the marked serial number.
  • the vector difference between the second position B and the first position A can be calculated, and the direction of the vector difference is from A to B, then the difference between the direction of the first speed and the direction of the second speed and the vector can be predicted In the same direction.
  • the direction of the speed corresponds to the direction of the object's movement
  • the direction of the object's movement at the first position and the second position can be predicted.
  • the direction in which the object moves at a certain position is reflected in the movement curve, which is the direction of the tangent to the corresponding point on the movement curve. Therefore, according to the direction in which the object moves at a certain position, you can further determine the direction from which the movement trajectory passes. This position in order to determine the specific shape of the motion trajectory.
  • Fig. 7 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure. As shown in FIG. 7, the prediction of the first acceleration at the starting point and the second acceleration at the end point includes:
  • Step S213 predict that the first acceleration and the second acceleration are equal to zero.
  • the waypoint does not include an intermediate point outside the straight line from the start point to the end point, it can be predicted that the object moves in a straight line from the start point to the end point, and due to the speed at the start and end points Values are equal to the preset speed value, so it can be predicted that the total amount of force or force from the start point to the end point is 0, so it can be further predicted that the first acceleration at the start point and the second acceleration at the end point are equal to 0.
  • Fig. 8 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure. As shown in FIG. 8, if the waypoint includes at least one intermediate point located outside the straight line from the start point to the end point, the predicted first speed at the start point and the second speed at the end point include:
  • Step S214 Predict the direction of the first speed according to the tangent line passing the starting point on the fitted curve where the starting point, the intermediate point and the end point are located, and according to the tangent line passing the end point on the fitted curve Predict the direction of the second speed.
  • Fig. 9 is a schematic flowchart showing yet another method for generating a trajectory according to an embodiment of the present disclosure. As shown in FIG. 9, the prediction of the first acceleration at the starting point and the second acceleration at the end point includes:
  • Step S215 predict the first acceleration according to the first velocity and the first curvature of the fitting curve at the starting point, and according to the second velocity and the second curvature of the fitting curve at the end point Predict the second acceleration.
  • the curvature of the fitting curve may be different, for example, the curvature at the starting point A is the first curvature 1/r1, and the curvature at the end point B is the second curvature 1/r2 .
  • the first acceleration at the starting point A is equal to the acceleration when moving on a circle with a curvature of 1/r1 at the preset speed value v
  • the magnitude of the first acceleration is v 2 /r1
  • the direction is perpendicular to the tangent of the starting point A
  • the second acceleration at the end point B is equal to the acceleration v 2 /r2 when moving on the circle with curvature of 1/r2 at the preset speed value v.
  • the size is v 2 /r2, the direction is perpendicular to the tangent line of the end point B, and it points to the center of the circle with the curvature of 1/r2.
  • the fitting curve is a circumscribed circle passing through the starting point, the intermediate point and the ending point.
  • the waypoint contains an intermediate point outside the straight line from the start point to the end point, since the object needs to move from the start point to the end point, it needs to pass through the intermediate point, and the intermediate point is located on a straight line from the start point to the end point.
  • the object passes through the starting point, the intermediate point and the end point along the circumscribed circle that passes through the starting point, the middle point and the end point, so that the circumscribed circle is determined as the fitting curve, then the direction of the first acceleration is from the starting point to the The center of the circumscribed circle, the direction of the second acceleration is from the end point to the center of the circumscribed circle, the first acceleration and the second acceleration are equal in magnitude, and both are equal to the ratio of v 2 to the radius of the circumscribed circle.
  • the fitting curve includes:
  • the first circumscribed circle passing through the starting point and the two intermediate points closest to the starting point among the at least two intermediate points, and the two nearest intermediate points passing through the ending point and the at least two intermediate points to the ending point The second circumcircle of the middle point.
  • the waypoint contains at least two intermediate points located outside the straight line segment from the start point to the end point
  • two intermediate points C and D located outside the straight line segment from the start point to the end point are taken as
  • the object since the object needs to move from the start point to the end point and needs to pass through the intermediate points C and D, and the intermediate points C and D are located outside the straight line from the start point to the end point, then it can be assumed that the object passes through the start point and the intermediate points C and D along the first
  • a circumscribed circle passes through the starting point and intermediate points C and D successively, so that the first circumscribed circle is determined as the fitting curve, then the direction of the first acceleration is from the starting point to the center of the first circumscribed circle, and the magnitude of the first acceleration is equal to v 2
  • the object passes through the intermediate points C and D and the end point along the second circumscribed circle passing through the intermediate points C and D and the end point, so as to determine the second circumscribed circle as the fitting curve, then the direction of the second acceleration is From the end point to the center of the second circumscribed circle, the magnitude of the second acceleration is equal to the ratio of v 2 to the radius of the second circumscribed circle.
  • Fig. 10 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure. As shown in Figure 10, if the waypoint includes at least one intermediate point located outside the straight line from the start point to the end point, the predicted first speed at the start point and the second speed at the end point include:
  • Step S216 the first pair of waypoints and the second pair of waypoints through which the determined object continuously passes in the waypoints;
  • Step S217 Predict the direction of the first speed according to the vector difference between the two waypoints in the first pair of waypoints, and predict the first speed according to the vector difference between the two waypoints in the second pair of waypoints. 2. The direction of speed.
  • the waypoint contains at least two intermediate points located outside the straight line from the start point to the end point
  • two intermediate points E and F located outside the straight line from the start point to the end point are taken as
  • the object since the object needs to move from the start point to the end point and needs to pass the intermediate points E and F, and the intermediate points E and F are located outside the straight line from the start point to the end point, then it can be assumed that the object passes the start point at a speed equal to the preset speed value.
  • the intermediate points E and F and the end point it can be predicted that the force is not applied or the sum of the force is 0 during the whole process from the start point to the end point. Therefore, the first acceleration at the start point and the end point can be further predicted The second acceleration is equal to zero.
  • the first pair of waypoints through which the object continuously passes can be determined in the waypoint. It can be A and E, E and F, F and B, and then can predict the direction of the first speed based on the vector difference between the two waypoints in the first pair of waypoints.
  • the first pair of waypoints are A and E, then The direction of the first speed is the same as the direction of the AE vector.
  • the first pair of waypoints are E and F, then the direction of the first speed is the same as the direction of the EF vector.
  • the direction of movement when the object moves to the end point is not unique.
  • the second pair of waypoints can be determined in the waypoint through which the object continuously passes.
  • the second pair of waypoints can be A and E, E and F, F. And B, and then can predict the direction of the second speed based on the vector difference between the two waypoints in the second pair of waypoints. For example, if the second pair of waypoints are E and F, then the direction of the second speed is the same as the direction of the EF vector. The same, for example, the second pair of waypoints are F and B, then the direction of the second speed is the same as the direction of the FB vector.
  • the first pair of waypoints includes the start point, and/or the second pair of waypoints includes the end point.
  • the starting point can be used as a point in the first pair of waypoints.
  • the first pair of waypoints are A and E, then the direction of the first speed is the same as the direction of the AE vector. Based on this, it can be assumed that the direction of the object's movement from point A is toward the next intermediate point that the object will reach, and the probability of the object moving in this direction is higher. Based on this assumption, the object's trajectory can be determined more accurately.
  • the end point can be regarded as a point in the second pair of waypoints.
  • the second pair of waypoints are F and B, then the direction of the second speed is the same as the direction of the FB vector. Based on this, It can be assumed that the direction of the object moving to B is the direction from the intermediate point passed by the object to the end point, and the probability of the object moving in this direction is higher. Based on this assumption, the trajectory of the object can be determined more accurately.
  • Fig. 11 is a schematic flowchart showing yet another method for generating a trajectory according to an embodiment of the present disclosure.
  • the prediction of the first acceleration at the starting point and the second acceleration at the end point includes:
  • Step S218, predict that the first acceleration and the second acceleration are equal to zero.
  • the object passes the starting point, the intermediate points E and F, and the ending point at a speed equal to the preset speed value.
  • it can be predicted that it will not be forced during the entire process from the starting point to the ending point.
  • the sum of the forces is zero, so it can be further predicted that the first acceleration at the starting point and the second acceleration at the end point are both equal to zero.
  • Fig. 12 is a schematic flowchart showing another method for generating a trajectory according to an embodiment of the present disclosure. As shown in Figure 12, the method further includes:
  • step S4 when the end point is taken as the start point of the next motion trajectory of the motion trajectory, the constraint condition group for the end point is used as the constraint condition group for the start point of the next motion trajectory.
  • the starting point and ending point in the above-mentioned embodiment may be only the starting point and ending point of a part of the motion trajectory of the object, and when determining the next motion trajectory connected to the ending point of the above motion trajectory, the above-mentioned
  • the constraint condition group for the end point is used as the constraint condition group for the starting point of the next motion trajectory, so that the curvature at the junction of the next motion trajectory and the above motion trajectory is also continuous, thereby ensuring the curvature of the entire motion trajectory of the object All are continuous.
  • the present disclosure also proposes an embodiment of the trajectory generating device.
  • the trajectory generation device proposed in this embodiment can be applied to unmanned equipment, such as unmanned aerial vehicles, unmanned vehicles, unmanned ships, etc., and can also be applied to equipment capable of communicating with unmanned equipment, such as remote controls and mobile terminals. , Cloud server, etc., and send it to the unmanned device after generating the motion trajectory for the unmanned device to move according to the generated motion trajectory.
  • unmanned equipment such as unmanned aerial vehicles, unmanned vehicles, unmanned ships, etc.
  • equipment capable of communicating with unmanned equipment such as remote controls and mobile terminals. , Cloud server, etc.
  • the trajectory generating device includes one or more processors working individually or in cooperation, and the processors are configured to:
  • the motion trajectory of the object is generated according to the constraint condition group, wherein the curvature of the motion trajectory is continuous.
  • the processor is used to:
  • the constraint condition group is a constraint condition group of a polynomial with respect to time, wherein the highest power of the polynomial is an odd number greater than or equal to 5; wherein, the processor is configured to:
  • the motion trajectory is generated according to the polynomial.
  • the processor is used to:
  • the preset speed is a preset unit speed
  • the processor is configured to:
  • the preset speed value is a preset unit speed value.
  • the processor is configured to:
  • the direction of the first speed and the direction of the second speed are predicted based on a vector difference between the second position and the first position.
  • the processor is used to:
  • the processor is configured to:
  • the direction of the first speed is predicted according to the tangent line passing the starting point on the fitted curve where the starting point, the intermediate point and the ending point are located, and the tangent line passing through the ending point on the fitted curve is predicted The direction of the second speed.
  • the processor is used to:
  • the first acceleration is predicted based on the first velocity and the first curvature of the fitting curve at the starting point
  • the second acceleration is predicted based on the second velocity and the second curvature of the fitting curve at the end point. The second acceleration.
  • the fitting curve is the circumstance that passes through the start point, the intermediate point, and the end point. round.
  • the fitting curve includes:
  • the first circumscribed circle passing through the starting point and the two intermediate points closest to the starting point among the at least two intermediate points, and the two nearest intermediate points passing through the ending point and the at least two intermediate points to the ending point The second circumcircle of the middle point.
  • the processor is configured to:
  • the first pair of waypoints and the second pair of waypoints through which a certain object continuously passes through the waypoints;
  • the first pair of waypoints includes the start point, and/or the second pair of waypoints includes the end point.
  • the processor is used to:
  • the processor is further configured to:
  • the constraint condition group for the end point is used as the constraint condition group of the start point of the next motion trajectory.
  • the embodiments of the present disclosure also provide an unmanned aerial vehicle, including the trajectory generating device described in any of the above embodiments.
  • the system, device, module or unit explained in the above embodiments may be specifically implemented by a computer chip or entity, or by a product with a certain function.
  • the functions are divided into various units and described separately.
  • the functions of each unit can be implemented in the same one or more software and/or hardware.
  • the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.
  • the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

Abstract

一种轨迹生成方法，包括：确定起点和终点（S1）；根据所述起点和所述终点构建所述起点和所述终点的约束条件组（S2）；根据所述约束条件组生成物体的运动轨迹，其中，所述运动轨迹的曲率连续（S3）。根据该方法，通过生成曲率连续的运动轨迹，当物体沿着运动轨迹运动时，加速度可以保持不变，或者可以连续变化，从而保证加速度不会发生突变。据此，可以使得物体在改变加速度时，物体中提供动力的结构无需在短时间内大幅改变工作状态，从而避免物体在运动过程中发生抖动，保证物体稳定地运动。

Description

轨迹生成方法、轨迹生成装置和无人机 技术领域
本公开涉及无人机领域，尤其涉及轨迹生成方法，轨迹生成装置和无人机。
背景技术
为了引导无人机自主飞行，需要根据接收到的航点，按照特定的算法来生成通过这些航点的轨迹，进而按照生成的轨迹引导无人机自主飞行。
相关技术中一般是采用贝塞尔(Bezier)曲线来生成轨迹，其中，一阶贝塞尔曲线需要两个控制点，可以用来描述直线，用于作为直线轨迹的生成方法，二阶贝塞尔曲线需要三个控制点，可以用来描述曲线，用于作为无人机曲线轨迹的方法。相关技术主要采用一阶贝塞尔曲线和二阶贝塞尔曲线相结合来生成包含直线和曲线的轨迹。
但是根据相关技术中生成轨迹的方法，在曲线和直线的连接处，曲率会发生突变，这会导致无人机按照生成的轨迹飞行到曲线和直线的连接处时加速度发生突变，而为了短时间内大幅改变加速度，需要无人机中提供动力的结构在短时间内大幅改变工作状态，从而导致无人机发生抖动，影响无人机飞行的稳定性。
发明内容
本公开提供轨迹生成方法，轨迹生成装置和无人机，以克服相关技术中的技术问题。
根据本公开实施例的第一方面，提出一种轨迹生成方法，包括：
确定起点和终点；
根据所述起点和所述终点构建所述起点和所述终点的约束条件组；
根据所述约束条件组生成物体的运动轨迹，其中，所述运动轨迹的曲率连续。
根据本公开实施例的第二方面，提出一种轨迹生成装置，包括单独或者协同工作的一个或者多个处理器，所述处理器用于：
确定起点和终点；
根据所述起点和所述终点构建所述起点和所述终点的约束条件组；
根据所述约束条件组生成物体的运动轨迹，其中，所述运动轨迹的曲率连续。
根据本公开实施例的第三方面，提出一种无人机，包括上述任一实施例所述的轨迹生成装置。
由以上本公开实施例提供的技术方案可见，通过生成曲率连续的运动轨迹，当物体沿着运动轨迹运动时，加速度可以保持不变，或者可以连续变化，从而保证加速度不会发生突变。据此，可以使得物体在改变加速度时，物体中提供动力的结构无需在短时间内大幅改变工作状态，从而避免物体在运动过程中发生抖动，保证物体稳定地运动。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本公开的实施例示出的一种轨迹生成方法的示意流程图。
图2是根据本公开的实施例示出的另一种轨迹生成方法的示意流程图。
图3是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图4是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图5是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图6是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图7是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图8是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图9是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图10是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图11是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
图12是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。另外，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1是根据本公开的实施例示出的一种轨迹生成方法的示意流程图。本实施例所示的轨迹生成方法可以适用于无人驾驶设备，例如无人机，无人车辆，无人船舶等，也可以适用于能够与无人驾驶设备通信的设备，例如遥控器、移动终端、云服务器等，并在生成运动轨迹后发送至无人驾驶设备，以供无人驾驶设备按照生成的运动轨迹运动。以下主要以无人机为例对本公开的技术方案进行示例性说明。
如图1所示，所述轨迹生成方法可以包括以下步骤：
步骤S1，确定起点和终点；
步骤S2，根据所述起点和所述终点构建所述起点和所述终点的约束条件 组；
步骤S3，根据所述约束条件组生成物体的运动轨迹，其中，所述运动轨迹的曲率连续。
在一个实施例中，运动轨迹的曲率连续包括运动轨迹的曲率保持不变，以及运动轨迹的曲率是连续变化的两种情况。
其中，运动轨迹的曲率保持不变，包括运动轨迹为直线和运动轨迹为圆两种情况。在运动轨迹为直线的情况下，无人机按照运动轨迹飞行的加速度保持不变；在运动轨迹为圆的情况下，无人机按照运动轨迹飞行的加速度连续变化，具体是大小不变，方向连续变化。也即，在运动轨迹的曲率保持不变的情况下，无人机按照运动轨迹飞行的加速度或者不变，或者连续变化。
其中，运动轨迹的曲率连续变化，那么无人机按照运动轨迹飞行的加速度也连续变化，例如加速的大小连续变化，且方向也连续变化。
例如从起点A到终点B，基于相关技术中的生成运动轨迹包括从起点A开始的直线段AC，以及半径为4的半圆CB，那么在直线段和半圆的相接处，也即C点，曲率从0突变到1/4，那么当物体沿着该运动轨迹以速度v运动时，在C点的加速度从0突变到v 2/4。
而基于本公开的实施例，生成的运动轨迹曲率是连续的，那么从A点到C点，以及从C点到B点，曲率可以连续变化，例如从A点到C点仍是直线段，曲率为0，而从C点到B点，曲率从0逐渐增加到1/4，例如曲率可以先从0逐渐增加到1/16，再从1/16逐渐增加到1/8，在从1/8逐渐增加到1/4，从而使得曲率连续变化，那么当物体沿着该运动轨迹以速度v运动时，加速度从0逐渐增加到v 2/16，再逐渐增加到v 2/8，然后再逐渐增加到v 2/4，并且加速度的方向也从没有方向(例如从无限远处)逐渐地变为指向半圆的圆心。
根据本公开的实施例，通过生成曲率连续的运动轨迹，当物体沿着运动轨迹运动时，加速度可以保持不变，或者可以连续变化，从而保证加速度不会发生突变。据此，可以使得物体在改变加速度时，物体中提供动力的结构无需在短时间内大幅改变工作状态，从而避免物体在运动过程中发生抖动， 保证物体稳定地运动。
图2是根据本公开的实施例示出的另一种轨迹生成方法的示意流程图。如图2所示，所述根据所述起点和所述终点构建所述起点和所述终点的约束条件组包括：
步骤S21，获取所述物体在所述起点的第一位置和所述终点的第二位置，预测所述物体从所述起点到所述终点的途经时间，预测在所述起点的第一速度和在所述终点的第二速度，预测在所述起点的第一加速度和在所述终点的第二加速度；
步骤S22，根据所述途经时间、所述起点的第一位置、所述终点的第二位置、所述第一速度、所述第二速度、所述第一加速度、和所述第二加速度构建所述约束条件组。
在一个实施例中，可以确定起点和终点，其中，无人机可以自主确定起点和终点，也可以根据用于指示起点和终点的指示信息来确定起点和终点。例如，无人机可以根据预先设置的位置信息来确定起点和终点，也可以根据用户输入的指示信息来确定起点和终点，在此不作限定。
在一个实施例中，第一速度和第二速度的大小可以是相等的，例如可以根据预设速度值来确定第一速度的和第二速度的大小。进而根据起点和终点之间路径的长度，即可预测出从起点到终点的途径时间。
在一个实施例中，第一加速度和第二加速度根据航点中除了起点和终点以外的中间点与从起点到终点的直线段的关系，以及经过起点和终点所在拟合曲线可以有所不同。
例如航点中没有位于所述直线段以外的中间点，那么可以预测第一加速度和第二加速度为0。例如航点中有位于所述直线段以外的中间点，那么可以根据起点、中间点和终点所在拟合曲线在起点的曲率预测第一加速度，根据拟合曲线在终点的曲率预测第二加速度，例如拟合曲线在起点的曲率为1/r1，预设速度值为v，那么第一加速度为v 2/r1。
据此，可以确定起点A的第一位置pos A，终点B的第二位置pos B，还可 以预测出途经时间T，第一速度vel A，第二速度vel B，第一加速度acc A，第二加速度acc B，进而可以根据这些数值构建约束条件组，并根据约束条件组生成物体的运动轨迹。其中，具体生成运动轨迹的方式在后续实施例进行说明。
图3是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图3所示，所述约束条件组为关于时间的多项式的约束条件组，其中，所述多项式的最高次幂为大于或等于5的奇数；其中，所述根据所述约束条件组生成物体的运动轨迹包括：
步骤S31，根据所述约束条件组确定所述多项式；
步骤S32，根据所述多项式生成所述运动轨迹。
在一个实施例中，由于起点的第一位置，终点的第二位置，第一速度，第二速度，第一加速度，第二加速度可以形成6个约束条件，也即可以构建包含6个约束条件的约束条件组。为求解出上述包含6个约束条件的约束条件组，本实施例中关于时间的多项式的最高次幂可以是5。
进一步地，在预测得到加速度的情况下，可以预测加速度的变化率，甚至可以得到变化率的变化率，乃至更进一步的变化率，在这种情况下，可以得到更多约束条件，并且约束条件都是针对起点和终点的，所以约束条件的数量除了可以如上所述为6个，还可以是8个，也即还额外包含第一加速度的变化和第二加速度的变化，也可以是10个、12个等能通过6+2n表示的数量，那么对应的多项式的最高次幂就是6+2n-1＝5+2n，所以所构建的多项式的最高次幂为大于或等于5的奇数。
以下以多项式的最高次幂等于5的情况对本公开的技术方案示例性说明。
例如构建的多项式为f(t)＝at 5+bt 4+ct 3+dt 2+et+f，多项式的输出值为位置，多项式的一阶导的输出值为速度，多项式的二阶导的输出值为加速度，那么当t＝0时，所确定的约束条件是关于起点的约束条件，当t＝途经时间T时，所确定的约束条件是关于终点的约束条件。
据此，可以将时间等于0代入五次多项式的结果和第一位置pos A确定第一约束条件f(0)＝f＝pos A；
将途经时间T代入五次多项式的结果和第二位置pos B确定第二约束条件f(T)＝aT 5+bT 4+cT 3+dT 2+eT+f＝pos B；
将时间等于0代入五次多项式的一阶导式子中的结果和第一速度vel A确定第三约束条件f’(0)＝e＝vel A；
将途经时间T代入五次多项式的一阶导式子中的结果和第二速度vel B确定第四约束条件f’(T)＝5aT 4+4bT 3+3cT 2+2dT+et＝vel B；
将时间等于0代入所述五次多项式的二阶导式子中的结果和第一加速度acc A确定第五约束条件f”(0)＝2d＝acc A；
将途经时间T代入五次多项式的二阶导式子中的结果和第二加速度acc B确定第六约束条件f”(T)＝20aT 3+12bT 2+6cT+2d＝acc B；
进而根据上述第一约束条件、第二约束条件、第三约束条件、第四约束条件、第五约束条件和第六约束条件可以构建包含6个方程的方程组作为所述约束条件组，基于该方程组可以求解出多项式中的a,b,c,d,e,f这6个未知数，进而可以确定多项式。
而多项式是以时间为自变量的多项式，由于对时间求一阶导得到的式子输出值为速度，那么对时间求二阶导得到的式子输出值就是加速度，根据本实施例中求得的多项式对时间的二阶导的式子是连续的，那么加速度也就是连续变化的，据此，将该多项式的轨迹作为物体的运动轨迹，可以保证当物体沿着运动轨迹运动时，加速度可以保持不变，或者可以连续变化，从而使得加速度不会发生突变。
图4是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图4所示，所述预测所述物体从所述起点到所述终点的途经时间包括：
步骤S211，根据所述第一位置、所述第二位置和预设速度值预测所述物体从所述起点到所述终点的途经时间。
在一个实施例中，按照预设速度值从第一位置运动到第二位置的时间即为途径时间，因此可以根据第一位置到第二位置的路程除以预设速度值来计算得到途径时间。
需要说明的是，从第一位置到第二位置的路程可以是沿着直线从第一位置到第二位置的路程，也可以是沿着预设形状的曲线从第一位置到第二位置的路程。
图5是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图5所示，所述预设速度为预设单位速度，所述根据所述第一位置、所述第二位置和预设速度值预测所述物体从所述起点到所述终点的途经时间包括：
步骤S2111，根据所述第一位置到所述第二位置的距离和预设速度值预测所述物体从所述起点到所述终点的途经时间。
在一个实施例中，可以对于沿着直线从第一位置到第二位置的路程的情况来计算途径时间，那么从第一位置到第二位置的路程就是从从第一位置到第二位置的距离，进而可以根据第一位置到第二位置的距离除以预设速度值来计算得到途径时间。
可选地，所述预设速度值为预设单位速度值。例如可以是1m/s，据此计算得到的途径时间的数值就等于从第一位置到第二位置的路程的数值，有利于简化运算过程。
图6是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图6所示，若航点中不包含位于从所述起点到所述终点的直线段以外的中间点，所述预测在所述起点的第一速度和在所述终点的第二速度包括：
步骤S212，根据所述第二位置和所述第一位置的矢量差预测所述第一速度的方向和所述第二速度的方向。
其中，航点可以是预先存储的，也可以是实时接收的，对于每个航点可以预先标记序号，根据所标记的序号可以确定起点和终点以及中间点。
在一个实施例，可以计算第二位置B和第一位置A的矢量差，该矢量差的方向是从A指向B的，那么可以预测第一速度的方向和第二速度的方向与该矢量差的方向相同。
由于速度的方向对应物体运动的方向，从而通过预测第一速度和第二速 度的方向，可以预测在第一位置和第二位置物体运动的方向。而物体在某个位置运动的方向，体现在运动曲线上，就是运动曲线上与该位置对应点的切线的方向，因此根据物体在某个位置运动的方向，可以进一步确定运动轨迹从什么方向通过该位置，以便确定运动轨迹的具体形状。
图7是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图7所示，所述预测在所述起点的第一加速度和在所述终点的第二加速度包括：
步骤S213，预测所述第一加速度和所述第二加速度等于0。
在一个实施例中，若航点中不包含位于从所述起点到所述终点的直线段以外的中间点，那么可以预测物体从起点沿着直线运动到了终点，并且由于在起点和终点的速度值都等于预设速度值，因此可以预测在从起点到终点的整个过程中不受力或受力之和为0，因此可以进一步预测在起点的第一加速度和在终点的第二加速度都等于0。
图8是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图8所示，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述预测在所述起点的第一速度和在所述终点的第二速度包括：
步骤S214，根据所述起点、所述中间点和所述终点所在的拟合曲线上通过所述起点的切线预测所述第一速度的方向，根据所述拟合曲线上通过所述终点的切线预测所述第二速度的方向。
在一个实施例，可以先预测起点、中间点和终点所在的拟合曲线，进而根据在拟合曲线上通过起点的切线预测第一速度的方向，以及根据在拟合曲线上通过终点的切线预测第二速度的方向。
图9是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图9所示，所述预测在所述起点的第一加速度和在所述终点的第二加速度包括：
步骤S215，根据所述第一速度和所述拟合曲线在所述起点的第一曲率预测所述第一加速度，根据所述第二速度和所述拟合曲线在所述终点的第二曲 率预测所述第二加速度。
在一个实施例中，在拟合曲线的不同位置，拟合曲线的曲率可以有所不同，例如在起点A的曲率为第一曲率1/r1，在终点B的曲率为第二曲率1/r2。
那么在起点A的第一加速度就等于以预设速度值v在曲率为1/r1的圆上运动时的加速度，第一加速度的大小为v 2/r1，方向垂直经过起点A的切线，且指向所述曲率为1/r1的圆的圆心，在终点B的第二加速度就等于以预设速度值v在曲率为1/r2的圆上运动时的加速度v 2/r2，第二加速度的大小为v 2/r2，方向垂直经过终点B的切线，且指向所述曲率为1/r2的圆的圆心。
可选地，若航点中包含一个位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线为经过所述起点、所述中间点和所述终点的外接圆。
在一个实施例中，若航点中包含一个位于从起点到所述终点的直线段以外的中间点，由于物体需要从起点运动到终点需要经过中间点，而中间点位于从起点到终点的直线段以外，那么可以假设物体沿着经过起点、中间点和终点的外接圆先后经过起点，中间点和终点，从而将该外接圆确定为拟合曲线，那么第一加速度的方向是从起点指向该外接圆的圆心，第二加速度的方向是从终点指向该外接圆的圆心，第一加速度和第二加速度的大小相等，都等于v 2与该外接圆的半径之比。
可选地，若航点中包含至少两个位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线包括：
通过所述起点和至少两个所述中间点中到所述起点最近的两个中间点的第一外接圆，以及通过所述终点和至少两个所述中间点中到所述终点最近的两个中间点的第二外接圆。
在一个实施例中，若航点中包含至少两个位于从起点到终点的直线段以外的中间点，为简化描述，以两个位于从起点到终点的直线段以外的中间点C和D为例，由于物体需要从起点运动到终点需要经过中间点C和D，而中间点C和D位于从起点到终点的直线段以外，那么可以假设物体沿着经过起点和中间点C和D的第一外接圆先后经过起点以及中间点C和D，从而将第一 外接圆确定为拟合曲线，那么第一加速度的方向是从起点指向第一外接圆的圆心，第一加速度的大小等于v 2与第一外接圆的半径之比。
类似地，可以假设物体沿着经过中间点C和D以及终点的第二外接圆先后经过中间点C和D以及终点，从而将第二外接圆确定为拟合曲线，那么第二加速度的方向是从终点指向第二外接圆的圆心，第二加速度的大小等于v 2与第二外接圆的半径之比。
图10是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图10所示，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述预测在所述起点的第一速度和在所述终点的第二速度包括：
步骤S216，在所述航点中的确定物体连续经过的第一对航点和第二对航点；
步骤S217，根据所述第一对航点中两个航点的矢量差，预测所述第一速度的方向，根据所述第二对航点中两个航点的矢量差，预测所述第二速度的方向。
在一个实施例中，若航点中包含至少两个位于从起点到终点的直线段以外的中间点，为简化描述，以两个位于从起点到终点的直线段以外的中间点E和F为例，由于物体需要从起点运动到终点需要经过中间点E和F，而中间点E和F位于从起点到终点的直线段以外，那么可以假设物体以大小等于预设速度值的速度先后经过起点，中间点E和F以及终点，在这种情况下，可以预测在从起点到终点的整个过程中不受力或受力之和为0，因此可以进一步预测在起点的第一加速度和在终点的第二加速度都等于0。
而物体从起点运动到终点需要经过中间点E和F，那么从起点开始的运动方向并不是唯一的，例如可以在航点中的确定物体连续经过的第一对航点，第一对航点可以是A和E，E和F，F和B，进而可以根据第一对航点中两个航点的矢量差，预测第一速度的方向，例如第一对航点为A和E，那么第一速度的方向就与AE矢量的方向相同，例如第一对航点为E和F，那么第一速度的方向就与EF矢量的方向相同。
类似地，物体运动到终点时的运动方向也不是唯一的，例如可以在航点中的确定物体连续经过的第二对航点，第二对航点可以是A和E，E和F，F和B，进而可以根据第二对航点中两个航点的矢量差，预测第二速度的方向，例如第二对航点为E和F，那么第二速度的方向就与EF矢量的方向相同，例如第二对航点为F和B，那么第二速度的方向就与FB矢量的方向相同。
可选地，所述第一对航点中包含所述起点，和/或所述第二对航点中包含所述终点。
在一个实施例中，可以将起点作为第一对航点中的一个点，例如基于上述实施例，第一对航点就是A和E，那么第一速度的方向就与AE矢量的方向相同，基于此，可以假设物体从A点开始运动的方向就是朝向物体下个将要达到的中间点，而物体按照这个方向运动的概率较高，基于这种假设可以较为准确地确定物体的运动轨迹。
类似地，可以将终点作为第二对航点中的一个点，例如基于上述实施例，第二对航点就是F和B，那么第二速度的方向就与FB矢量的方向相同，基于此，可以假设物体运动到B的方向就是从物体上个经过的中间点到终点的方向，而物体按照这个方向运动的概率较高，基于这种假设可以较为准确地确定物体的运动轨迹。
图11是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图11所示，所述预测在所述起点的第一加速度和在所述终点的第二加速度包括：
步骤S218，预测所述第一加速度和所述第二加速度等于0。
在一个实施例中，可以假设物体以大小等于预设速度值的速度先后经过起点，中间点E和F以及终点，在这种情况下，可以预测在从起点到终点的整个过程中不受力或受力之和为0，因此可以进一步预测在起点的第一加速度和在终点的第二加速度都等于0。
图12是根据本公开的实施例示出的又一种轨迹生成方法的示意流程图。如图12所示，所述方法还包括：
步骤S4，在将所述终点作为所述运动轨迹的下一运动轨迹的起点时，将对所述终点的约束条件组，作为所述下一运动轨迹的起点的约束条件组。
在一个实施例中，上述实施例中的起点和终点，可以只是物体整个运动轨迹中部分运动轨迹的起点和终点，而在确定与上述运动轨迹的终点相连的下个运动轨迹时，可以将上述实施例中对终点的约束条件组，作为下一运动轨迹的起点的约束条件组，从而使得下一运动轨迹与上述运动轨迹相接处的曲率也是连续的，进而保证物体整个运动轨迹上的曲率都是连续的。
与前述轨迹生成方法的实施例相对应地，本公开还提出了轨迹生成装置的实施例。
本实施例提出的轨迹生成装置可以适用于无人驾驶设备，例如无人机，无人车辆，无人船舶等，也可以适用于能够与无人驾驶设备通信的设备，例如遥控器、移动终端、云服务器等，并在生成运动轨迹后发送至无人驾驶设备，以供无人驾驶设备按照生成的运动轨迹运动。
在一个实施例中，所述轨迹生成装置，包括单独或者协同工作的一个或者多个处理器，所述处理器用于：
确定起点和终点；
根据所述起点和所述终点构建所述起点和所述终点的约束条件组；
根据所述约束条件组生成物体的运动轨迹，其中，所述运动轨迹的曲率连续。
在一个实施例中，所述处理器用于：
获取所述物体在所述起点的第一位置和所述终点的第二位置，预测所述物体从所述起点到所述终点的途经时间，预测在所述起点的第一速度和在所述终点的第二速度，预测在所述起点的第一加速度和在所述终点的第二加速度；
根据所述途经时间、所述起点的第一位置、所述终点的第二位置、所述第一速度、所述第二速度、所述第一加速度、和所述第二加速度构建所述约 束条件组。
在一个实施例中，所述约束条件组为关于时间的多项式的约束条件组，其中，所述多项式的最高次幂为大于或等于5的奇数；其中，所述处理器用于：
根据所述约束条件组确定所述多项式；
根据所述多项式生成所述运动轨迹。
在一个实施例中，所述处理器用于：
根据所述第一位置、所述第二位置和预设速度值预测所述物体从所述起点到所述终点的途经时间。
在一个实施例中，所述预设速度为预设单位速度，所述处理器用于：
根据所述第一位置到所述第二位置的距离和预设速度值预测所述物体从所述起点到所述终点的途经时间。
在一个实施例中，所述预设速度值为预设单位速度值。
在一个实施例中，若航点中不包含位于从所述起点到所述终点的直线段以外的中间点，所述处理器用于：
根据所述第二位置和所述第一位置的矢量差预测所述第一速度的方向和所述第二速度的方向。
在一个实施例中，所述处理器用于：
预测所述第一加速度和所述第二加速度等于0。
在一个实施例中，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述处理器用于：
根据所述起点、所述中间点和所述终点所在的拟合曲线上通过所述起点的切线预测所述第一速度的方向，根据所述拟合曲线上通过所述终点的切线预测所述第二速度的方向。
在一个实施例中，所述处理器用于：
根据所述第一速度和所述拟合曲线在所述起点的第一曲率预测所述第一加速度，根据所述第二速度和所述拟合曲线在所述终点的第二曲率预测所述 第二加速度。
在一个实施例中，若航点中包含一个位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线为经过所述起点、所述中间点和所述终点的外接圆。
在一个实施例中，若航点中包含至少两个位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线包括：
通过所述起点和至少两个所述中间点中到所述起点最近的两个中间点的第一外接圆，以及通过所述终点和至少两个所述中间点中到所述终点最近的两个中间点的第二外接圆。
在一个实施例中，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述处理器用于：
在所述航点中的确定物体连续经过的第一对航点和第二对航点；
根据所述第一对航点中两个航点的矢量差，预测所述第一速度的方向，根据所述第二对航点中两个航点的矢量差，预测所述第二速度的方向。
在一个实施例中，所述第一对航点中包含所述起点，和/或所述第二对航点中包含所述终点。
在一个实施例中，所述处理器用于：
预测所述第一加速度和所述第二加速度等于0。
在一个实施例中，所述处理器还用于：
在将所述终点作为所述运动轨迹的下一运动轨迹的起点时，将对所述终点的约束条件组，作为所述下一运动轨迹的起点的约束条件组。
本公开的实施例还提出一种无人机，包括上述任一实施例所述的轨迹生成装置。
上述实施例阐明的系统、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本申请时可以把各单元的功能在同一个或多个软件和/或硬件中实现。本领域内的技术人员应明白， 本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (33)

  1. 一种轨迹生成方法，其特征在于，包括：
    确定起点和终点；
    根据所述起点和所述终点构建所述起点和所述终点的约束条件组；
    根据所述约束条件组生成物体的运动轨迹，其中，所述运动轨迹的曲率连续。
  2. 根据权利要求1所述的方法，其特征在于，所述获取所述起点和所述终点的约束条件组包括：
    获取所述物体在所述起点的第一位置和所述终点的第二位置，预测所述物体从所述起点到所述终点的途经时间，预测在所述起点的第一速度和在所述终点的第二速度，预测在所述起点的第一加速度和在所述终点的第二加速度；
    根据所述途经时间、所述起点的第一位置、所述终点的第二位置、所述第一速度、所述第二速度、所述第一加速度、和所述第二加速度构建所述约束条件组。
  3. 根据权利要求2所述的方法，其特征在于，所述约束条件组为关于时间的多项式的约束条件组，其中，所述多项式的最高次幂为大于或等于5的奇数；其中，所述根据所述约束条件组生成物体的运动轨迹包括：
    根据所述约束条件组确定所述多项式；
    根据所述多项式生成所述运动轨迹。
  4. 根据权利要求2所述的方法，其特征在于，所述预测所述物体从所述起点到所述终点的途经时间包括：
    根据所述第一位置、所述第二位置和预设速度值预测所述物体从所述起点到所述终点的途经时间。
  5. 根据权利要求4所述的方法，其特征在于，所述预设速度为预设单位速度，所述根据所述第一位置、所述第二位置和预设速度值预测所述物体从所述起点到所述终点的途经时间包括：
    根据所述第一位置到所述第二位置的距离和预设速度值预测所述物体从所述起点到所述终点的途经时间。
  6. 根据权利要求4或5所述的方法，其特征在于，所述预设速度值为预设单位速度值。
  7. 根据权利要求2所述的方法，其特征在于，若航点中不包含位于从所述起点到所述终点的直线段以外的中间点，所述预测在所述起点的第一速度和在所述终点的第二速度包括：
    根据所述第二位置和所述第一位置的矢量差预测所述第一速度的方向和所述第二速度的方向。
  8. 根据权利要求7所述的方法，其特征在于，所述预测在所述起点的第一加速度和在所述终点的第二加速度包括：
    预测所述第一加速度和所述第二加速度等于0。
  9. 根据权利要求2所述的方法，其特征在于，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述预测在所述起点的第一速度和在所述终点的第二速度包括：
    根据所述起点、所述中间点和所述终点所在的拟合曲线上通过所述起点的切线预测所述第一速度的方向，根据所述拟合曲线上通过所述终点的切线预测所述第二速度的方向。
  10. 根据权利要求9所述的方法，其特征在于，所述预测在所述起点的第一加速度和在所述终点的第二加速度包括：
    根据所述第一速度和所述拟合曲线在所述起点的第一曲率预测所述第一加速度，根据所述第二速度和所述拟合曲线在所述终点的第二曲率预测所述第二加速度。
  11. 根据权利要求9所述的方法，其特征在于，若航点中包含一个位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线为经过所述起点、所述中间点和所述终点的外接圆。
  12. 根据权利要求9所述的方法，其特征在于，若航点中包含至少两个 位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线包括：
    通过所述起点和至少两个所述中间点中到所述起点最近的两个中间点的第一外接圆，以及通过所述终点和至少两个所述中间点中到所述终点最近的两个中间点的第二外接圆。
  13. 根据权利要求2所述的方法，其特征在于，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述预测在所述起点的第一速度和在所述终点的第二速度包括：
    在所述航点中的确定物体连续经过的第一对航点和第二对航点；
    根据所述第一对航点中两个航点的矢量差，预测所述第一速度的方向，根据所述第二对航点中两个航点的矢量差，预测所述第二速度的方向。
  14. 根据权利要求13所述的方法，其特征在于，所述第一对航点中包含所述起点，和/或所述第二对航点中包含所述终点。
  15. 根据权利要求13所述的方法，其特征在于，所述预测在所述起点的第一加速度和在所述终点的第二加速度包括：
    预测所述第一加速度和所述第二加速度等于0。
  16. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在将所述终点作为所述运动轨迹的下一运动轨迹的起点时，将对所述终点的约束条件组，作为所述下一运动轨迹的起点的约束条件组。
  17. 一种轨迹生成装置，其特征在于，包括单独或者协同工作的一个或者多个处理器，所述处理器用于：
    确定起点和终点；
    根据所述起点和所述终点构建所述起点和所述终点的约束条件组；
    根据所述约束条件组生成物体的运动轨迹，其中，所述运动轨迹的曲率连续。
  18. 根据权利要求17所述的装置，其特征在于，所述处理器用于：
    获取所述物体在所述起点的第一位置和所述终点的第二位置，预测所述物体从所述起点到所述终点的途经时间，预测在所述起点的第一速度和在所 述终点的第二速度，预测在所述起点的第一加速度和在所述终点的第二加速度；
    根据所述途经时间、所述起点的第一位置、所述终点的第二位置、所述第一速度、所述第二速度、所述第一加速度、和所述第二加速度构建所述约束条件组。
  19. 根据权利要求18所述的装置，其特征在于，所述约束条件组为关于时间的多项式的约束条件组，其中，所述多项式的最高次幂为大于或等于5的奇数；其中，所述处理器用于：
    根据所述约束条件组确定所述多项式；
    根据所述多项式生成所述运动轨迹。
  20. 根据权利要求18所述的装置，其特征在于，所述处理器用于：
    根据所述第一位置、所述第二位置和预设速度值预测所述物体从所述起点到所述终点的途经时间。
  21. 根据权利要求20所述的方装置，其特征在于，所述预设速度为预设单位速度，所述处理器用于：
    根据所述第一位置到所述第二位置的距离和预设速度值预测所述物体从所述起点到所述终点的途经时间。
  22. 根据权利要求20或21所述的装置，其特征在于，所述预设速度值为预设单位速度值。
  23. 根据权利要求18所述的装置，其特征在于，若航点中不包含位于从所述起点到所述终点的直线段以外的中间点，所述处理器用于：
    根据所述第二位置和所述第一位置的矢量差预测所述第一速度的方向和所述第二速度的方向。
  24. 根据权利要求23所述的装置，其特征在于，所述处理器用于：
    预测所述第一加速度和所述第二加速度等于0。
  25. 根据权利要求18所述的装置，其特征在于，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述处理器用于：
    根据所述起点、所述中间点和所述终点所在的拟合曲线上通过所述起点的切线预测所述第一速度的方向，根据所述拟合曲线上通过所述终点的切线预测所述第二速度的方向。
  26. 根据权利要求25所述的装置，其特征在于，所述处理器用于：
    根据所述第一速度和所述拟合曲线在所述起点的第一曲率预测所述第一加速度，根据所述第二速度和所述拟合曲线在所述终点的第二曲率预测所述第二加速度。
  27. 根据权利要求25所述的装置，其特征在于，若航点中包含一个位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线为经过所述起点、所述中间点和所述终点的外接圆。
  28. 根据权利要求25所述的装置，其特征在于，若航点中包含至少两个位于从所述起点到所述终点的直线段以外的中间点，所述拟合曲线包括：
    通过所述起点和至少两个所述中间点中到所述起点最近的两个中间点的第一外接圆，以及通过所述终点和至少两个所述中间点中到所述终点最近的两个中间点的第二外接圆。
  29. 根据权利要求18所述的装置，其特征在于，若航点中包含至少一个位于从所述起点到所述终点的直线段以外的中间点，所述处理器用于：
    在所述航点中的确定物体连续经过的第一对航点和第二对航点；
    根据所述第一对航点中两个航点的矢量差，预测所述第一速度的方向，根据所述第二对航点中两个航点的矢量差，预测所述第二速度的方向。
  30. 根据权利要求29所述的装置，其特征在于，所述第一对航点中包含所述起点，和/或所述第二对航点中包含所述终点。
  31. 根据权利要求29所述的装置，其特征在于，所述处理器用于：
    预测所述第一加速度和所述第二加速度等于0。
  32. 根据权利要求17所述的装置，其特征在于，所述处理器还用于：
    在将所述终点作为所述运动轨迹的下一运动轨迹的起点时，将对所述终点的约束条件组，作为所述下一运动轨迹的起点的约束条件组。
  33. 一种无人机，其特征在于，包括上述任一项权利要求所述的轨迹生成装置。
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