CN104808688A - Unmanned aerial vehicle curvature continuous adjustable path planning method - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle curvature continuous adjustable path planning method. The method includes 1, performing path curvature continuation, utilizing a parameter Cat mull-Rom curve to connect marked points of a path, and guaranteeing the curvature continuation of connection points by the interpolation optimizing method; 2, calculating the curvature values of points of a path curve, querying and marking curve a start point Point start and a destination point Ballpoint with the curvature values exceeding a determined threshold; 3, adopting the minimum curvature circle transfer method, and utilizing a curve Brazier with curvature changing monotonously to connect the Point start and the Ballpoint. Compared with the prior art, the smooth path planning method allowing all the marked points to be passed is provided, the parameter Cat mull-Rom curve is adopted, and the path is guaranteed passing all the marked points; by means of the interpolation optimizing algorithm, the path point curvature continuation is guaranteed; by means of the curvature monotonous smooth connection algorithm, the path curvature extreme value range is controlled, and the accuracy and feasibility of the path are provided on the premise of meeting the unmanned aerial vehicle kinematic conditions.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field, especially relate to a kind of unmanned plane continual curvature adjustable path planing method.
Background technology
Along with the development of Based Intelligent Control and unmanned technology, unmanned plane (Unmanned Aerial Vehicle) plays more and more important using value in the civil areas such as logistics transportation, crops monitoring, disaster relief and target detection and military field.Path planning is the basis that unmanned plane is rapidly and efficiently executed the task.The object of path planning is to provide a path optimizing meeting unmanned plane displacement and require.
Path planning is divided into logical path to plan and physical pathway planning problem.Logical path planning is on given interval, find Least-cost starting point and terminating point connected mode.The object of physical pathway planning provides the feasible path meeting physical constraint (restriction of unmanned plane sport dynamics), and ensure that path is optimum: real-time, local adjustable, accuracy.
Typical logical path planning algorithm has: Artificial Potential Field Method (Artificial Potential Field), TSP(Traveling Salesman Problem), MTSP(Multiple Traveling Salesman Problem), Dijkstra, A
*, genetic algorithm (Genetic Algorithm), SOM(Self Organizing Mapping) etc.But these algorithms do not consider physical feasibility.
The physical pathway planning algorithm of main flow has: DC(Dubins Curve) curve, Bezier curve, B-Spline, PH(Pythagorean Hodograph) curve etc.These algorithms consider simultaneously path curvatures continuously, amount of curvature restriction and the requirement through all road sign points.DC curve utilizes 2 points in straight line and circular sliding slopes plane, ensures shortest path, but tie point place curvature is interrupted; Bezier and B-Spline is curve of approximation, and curve approaches reference mark, but without all reference mark; PH curvature of curve continuously and can according to curvature extremum value inversional curve parameter, but this curve still belongs to curve of approximation, and computation complexity is high, is not suitable for real-time route planning.
Summary of the invention
The object of this invention is to provide a kind of continual curvature adjustable path planing method, to solve the problem that the path existed in prior art cannot meet unmanned plane kinematic conditions, path lacks degree of accuracy and algorithm complex is high.
The technical solution adopted in the present invention is: a kind of unmanned plane continual curvature adjustable path planing method, is characterized in that, comprise the following steps:
Step 1: initialization unmanned plane task map, marks the geographic coordinate of each task point, the minimal curve radius of setting unmanned plane;
Step 2: the form parameter of setting segmentation Catmull-Rom curve is respectively 1,0; Adopt geometric algorithm to connect each task point, obtain path planning; Curvature discontinuous point is only present in the tie point place of segmentation Catmull-Rom curve, calculates each tie point and whether meets continual curvature condition, obtains curvature discontinuous point Node [i], i=1,2,3...i;
Step 3: mark curvature discontinuous point Node [i], i=1,2,3...i, under predecessor's business point distribution situation, insert new road sign point or mobile critical path punctuate, complete the continual curvature of all tie points, continuous to reach path curvatures, obtain new route;
Step 4: the new route curvature of curve value obtained in calculation procedure 3, record curvature value exceedes the curvature line segment OverCur [j] of maximum curvature restriction, and calculating respective path curve starting point is Point_sThod [j], Point_fThod [j];
Step 5: adopt minimum curvature circle transition method, utilize the Bezier curve of monotone curvature variation to connect starting point and the terminal of each curvature line segment OverCur [j], complete curvature path curve weight-normality and draw.
As preferably, described in step 3, under predecessor's business point distribution situation, insert new road sign point or mobile critical path punctuate, employing be optimum interpolation method, its specific implementation comprises following sub-step:
Step 3.1: original path is counted out and is designated as data_len, according to curvature mutation size, determines the position of insertion point, remembers that the sequence number of this position in predecessor's business point is ctlflag;
Step 3.2: according to the value of ctlflag, the segment of curve that analytic curve length affects by this insertion point; Its concrete analysis process comprises following sub-step:
Step 3.2.1: calculate the length influenced curve hop count seg_ahead be in before this point; If ctlflag > 5, then hop count is 3; Otherwise hop count is mod (ctlflag+1,3);
Step 3.2.2: calculate the length influenced curve hop count seg_after be in after this point; If len-ctrflag >=7, wherein len-ctrflag=data_len-ctlflag, then hop count is 3; Otherwise hop count is len-ctlflag-4;
Step 3.2.3: the total hop count of segment of curve that length of curve affects by this insertion point is seg_ahead+seg_after;
Step 3.3: according to the value of ctlflag, analyzes the tie point number that curvature value affects by this insertion point; Its concrete analysis process comprises following sub-step:
Step 3.3.1: the number Cur_ahead=seg_ahead-1 calculating the affected tie point of curvature value before insertion point;
Step 3.3.2: the number calculating the affected tie point of curvature value after insertion point is: Cur_after=seg_after-1;
Step 3.3.3: curvature value is Cur_ahead+Cur_after+1 by the tie point number that this insertion point affects;
Step 3.4: utilize genetic algorithm, optimizes the position needing insertion point, and this position ensures that affected curvature value is continuous, and optimizes affected length of curve value;
Step 3.5: repeat above-mentioned steps, complete the continual curvature of all tie points.
As preferably, the minimum curvature circle transition method described in step 5, the following sub-step of its specific implementation process bag:
Step 5.1: calculate Point_sThod [j], the central coordinate of circle Cen_s [j] of Point_fThod [j] the place circle of curvature, Cen_f [j] respectively; Wherein circle of curvature radius is unmanned plane minimal curve radius;
Step 5.2: with Point_sThod [j] for initial point, set up local coordinate system, is converted into local coordinate by Cen_f [j];
Step 5.3: this method propose circle of curvature transition method comprise C, S, C-C, C-S, S-S, S-C curve, wherein C, C-C, S-S curve ensure starting point and terminal constant around revolving direction; S, C-S, S-C curve makes terminal contrary around revolving direction with starting point; According to conclusions, select transition curve type, calculate minimum curvature circle transition method two input parameters: shape parameters m(m >=1), Bezier structured parameter theta, m is uniquely determined by the relative position of Cen_s [j], Cen_f [j], theta is uniquely determined by m and curvature monotony condition, connects its starting point and terminal;
Step 5.4: repeat above step, completes curvature path curve weight-normality and draws.
The present invention compared with prior art, proposes a kind of smooth paths planing method through all road sign points, adopts parameterized Catmull-Rom curve, guarantees that path is through all road sign points; By optimizing interpolation and key point branching algorithm, ensure path each point continual curvature; Utilize curvature monotony smooth connection algorithm, controllability path curvature extremum value scope, make path meeting under unmanned plane kinematic conditions prerequisite, there is accuracy and feasibility.
Accompanying drawing explanation
Fig. 1: be the method flow diagram of the embodiment of the present invention;
Fig. 2: be embodiment of the present invention best interpolation schematic diagram;
Fig. 3: be embodiment of the present invention best interpolation method flow diagram;
Fig. 4: be embodiment of the present invention minimum curvature transition circle connection diagram;
Fig. 5: be embodiment of the present invention minimum curvature circle transition method process flow diagram;
Fig. 6: be embodiment of the present invention specific embodiment schematic diagram.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, should be appreciated that exemplifying embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
Ask for an interview Fig. 1, a kind of unmanned plane continual curvature adjustable path planing method provided by the invention, comprises the following steps:
Step 1: initialization unmanned plane task map, marks the geographic coordinate of each task point, the minimal curve radius of setting unmanned plane;
Initialization map, the impact point sequence of setting unmanned plane in this subtask, according to actual landform, setting unmanned plane during flying height; In task implementation, speed and the flying height of unmanned plane are constant.
Step 2: the form parameter of setting segmentation Catmull-Rom curve is respectively 1,0; Adopt geometric algorithm to connect each task point, obtain path planning; Curvature discontinuous point is only present in the tie point place of segmentation Catmull-Rom curve, calculates each tie point and whether meets continual curvature condition, obtains curvature discontinuous point Node [i], i=1,2,3...i;
Step 3: mark curvature discontinuous point Node [i], i=1,2,3...i, under predecessor's business point distribution situation, insert new road sign point or mobile critical path punctuate, complete the continual curvature of all tie points, continuous to reach path curvatures, obtain new route;
Predecessor business point distribution situation under insert new road sign point or mobile critical path punctuate, employing be optimum interpolation method, ask for an interview Fig. 2 and Fig. 3, its specific implementation comprises following sub-step:
Step 3.1: original path is counted out and is designated as data_len, according to curvature mutation size, determines the position of insertion point, remembers that the sequence number of this position in predecessor's business point is ctlflag;
Step 3.2: according to the value of ctlflag, the segment of curve that analytic curve length affects by this insertion point; Its concrete analysis process comprises following sub-step:
Step 3.2.1: calculate the length influenced curve hop count seg_ahead be in before this point; If ctlflag > 5, then hop count is 3; Otherwise hop count is mod (ctlflag+1,3);
Step 3.2.2: calculate the length influenced curve hop count seg_after be in after this point; If len-ctrflag >=7, wherein len-ctrflag=data_len-ctlflag, then hop count is 3; Otherwise hop count is len-ctlflag-4;
Step 3.2.3: the total hop count of segment of curve that length of curve affects by this insertion point is seg_ahead+seg_after;
Step 3.3: according to the value of ctlflag, analyzes the tie point number that curvature value affects by this insertion point; Its concrete analysis process comprises following sub-step:
Step 3.3.1: the number Cur_ahead=seg_ahead-1 calculating the affected tie point of curvature value before insertion point;
Step 3.3.2: the number calculating the affected tie point of curvature value after insertion point is: Cur_after=seg_after-1;
Step 3.3.3: curvature value is Cur_ahead+Cur_after+1 by the tie point number that this insertion point affects;
Step 3.4: utilize genetic algorithm, optimizes the position needing insertion point, and this position ensures that affected curvature value is continuous, and optimizes affected length of curve value;
Step 3.5: repeat above-mentioned steps, complete the continual curvature of all tie points.
Step 4: the new route curvature of curve value obtained in calculation procedure 3, record curvature value exceedes the curvature line segment OverCur [j] of maximum curvature restriction, and calculating respective path curve starting point is Point_sThod [j], Point_fThod [j];
Step 5: adopt minimum curvature circle transition method, utilize the Bezier curve of monotone curvature variation to connect starting point and the terminal of each curvature line segment OverCur [j], complete curvature path curve weight-normality and draw;
Ask for an interview Fig. 4 and Fig. 5, minimum curvature circle transition method, the following sub-step of its specific implementation process bag:
Step 5.1: calculate Point_sThod [j], the central coordinate of circle Cen_s [j] of Point_fThod [j] the place circle of curvature, Cen_f [j] respectively; Wherein circle of curvature radius is unmanned plane minimal curve radius;
Step 5.2: with Point_sThod [j] for initial point, set up local coordinate system, is converted into local coordinate by Cen_f [j];
Step 5.3: this method propose circle of curvature transition method comprise C, S, C-C, C-S, S-S, S-C curve, wherein C, C-C, S-S curve ensure starting point and terminal constant around revolving direction; S, C-S, S-C curve makes terminal contrary around revolving direction with starting point; According to conclusions, select transition curve type, calculate minimum curvature circle transition method two input parameters: shape parameters m(m >=1), Bezier structured parameter theta, m is uniquely determined by the relative position of Cen_s [j], Cen_f [j], theta is uniquely determined by m and curvature monotony condition, connects its starting point and terminal;
Step 5.4: repeat above step, completes curvature path curve weight-normality and draws.
Ask for an interview Fig. 6, the unmanned plane minimal curve radius of the present embodiment is set to 67m.Test map size: 2500*2000m.The present invention is in test process, unmanned plane is through all road sign points, path curve meets unmanned plane kinematic conditions (continual curvature and maximum curvature limit), and traditional DC(Dubins Curve, Bezier Curve, B-Spline and PH curve) all can not meet above feature simultaneously.
Should be understood that, the part that this instructions does not elaborate all belongs to prior art.
Should be understood that; the above-mentioned description for preferred embodiment is comparatively detailed; therefore the restriction to scope of patent protection of the present invention can not be thought; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that the claims in the present invention protect; can also make and replacing or distortion, all fall within protection scope of the present invention, request protection domain of the present invention should be as the criterion with claims.
Claims (3)
1. a unmanned plane continual curvature adjustable path planing method, is characterized in that, comprise the following steps:
Step 1: initialization unmanned plane task map, marks the geographic coordinate of each task point, the minimal curve radius of setting unmanned plane;
Step 2: the form parameter of setting segmentation Catmull-Rom curve is respectively 1,0; Adopt geometric algorithm to connect each task point, obtain path planning; Curvature discontinuous point is only present in the tie point place of segmentation Catmull-Rom curve, calculates each tie point and whether meets continual curvature condition, obtains curvature discontinuous point Node [i], i=1,2,3...i;
Step 3: mark curvature discontinuous point Node [i], i=1,2,3...i, under predecessor's business point distribution situation, insert new road sign point or mobile critical path punctuate, complete the continual curvature of all tie points, continuous to reach path curvatures, obtain new route;
Step 4: the new route curvature of curve value obtained in calculation procedure 3, record curvature value exceedes the curvature line segment OverCur [j] of maximum curvature restriction, and calculating respective path curve starting point is Point_sThod [j], Point_fThod [j];
Step 5: adopt minimum curvature circle transition method, utilize the Bezier curve of monotone curvature variation to connect starting point and the terminal of each curvature line segment OverCur [j], complete curvature path curve weight-normality and draw.
2. unmanned plane continual curvature adjustable path planing method according to claim 1, it is characterized in that: described in step 3 predecessor business point distribution situation under insert new road sign point or mobile critical path punctuate, what adopt is optimum interpolation method, and its specific implementation comprises following sub-step:
Step 3.1: original path is counted out and is designated as data_len, according to curvature mutation size, determines the position of insertion point, remembers that the sequence number of this position in predecessor's business point is ctlflag;
Step 3.2: according to the value of ctlflag, the segment of curve that analytic curve length affects by this insertion point; Its concrete analysis process comprises following sub-step:
Step 3.2.1: calculate the length influenced curve hop count seg_ahead be in before this point; If ctlflag > 5, then hop count is 3; Otherwise hop count is mod (ctlflag+1,3);
Step 3.2.2: calculate the length influenced curve hop count seg_after be in after this point; If len-ctrflag >=7, wherein len-ctrflag=data_len-ctlflag, then hop count is 3; Otherwise hop count is len-ctlflag-4;
Step 3.2.3: the total hop count of segment of curve that length of curve affects by this insertion point is seg_ahead+seg_after;
Step 3.3: according to the value of ctlflag, analyzes the tie point number that curvature value affects by this insertion point; Its concrete analysis process comprises following sub-step:
Step 3.3.1: the number Cur_ahead=seg_ahead-1 calculating the affected tie point of curvature value before insertion point;
Step 3.3.2: the number calculating the affected tie point of curvature value after insertion point is: Cur_after=seg_after-1;
Step 3.3.3: curvature value is Cur_ahead+Cur_after+1 by the tie point number that this insertion point affects;
Step 3.4: utilize genetic algorithm, optimizes the position needing insertion point, and this position ensures that affected curvature value is continuous, and optimizes affected length of curve value;
Step 3.5: repeat above-mentioned steps, complete the continual curvature of all tie points.
3. unmanned plane continual curvature adjustable path planing method according to claim 1, is characterized in that: the minimum curvature circle transition method described in step 5, the following sub-step of its specific implementation process bag:
Step 5.1: calculate Point_sThod [j], the central coordinate of circle Cen_s [j] of Point_fThod [j] the place circle of curvature, Cen_f [j] respectively; Wherein circle of curvature radius is unmanned plane minimal curve radius;
Step 5.2: with Point_sThod [j] for initial point, set up local coordinate system, is converted into local coordinate by Cen_f [j];
Step 5.3: this method propose circle of curvature transition method comprise C, S, C-C, C-S, S-S, S-C curve, wherein C, C-C, S-S curve ensure starting point and terminal constant around revolving direction; S, C-S, S-C curve makes terminal contrary around revolving direction with starting point; According to conclusions, select transition curve type, calculate minimum curvature circle transition method two input parameters: shape parameters m(m >=1), Bezier structured parameter theta, m is uniquely determined by the relative position of Cen_s [j], Cen_f [j], and theta is uniquely determined by m and curvature monotony condition; Connect its starting point and terminal;
Step 5.4: repeat above step, completes curvature path curve weight-normality and draws.
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