CN109341699A - A kind of Intelligent unattended platform path planing method based on avoidance turning quality estimating - Google Patents
A kind of Intelligent unattended platform path planing method based on avoidance turning quality estimating Download PDFInfo
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Abstract
The present invention relates to a kind of Intelligent unattended platform path planing methods based on avoidance turning quality estimating, belong to Intelligent unattended platform technology field, solves the problems, such as to calculate present in the smooth planning of existing avoidance turning and method for evaluation of quality complicated, computationally intensive.It the described method comprises the following steps: calculating the avoidance turning center of circle, and cook up the smooth paths of unmanned platform avoidance turning；According to the smooth paths cooked up, in starting path point, terminates between path point, increase new path point, unmanned platform is moved according to the smooth paths and all path points；The avoidance turning quality of unmanned platform is assessed, quality evaluation is obtained；Optimize the planning path of unmanned platform according to the assessment result.The path planning and quality estimating for realizing avoidance turning solve the problems, such as to calculate present in the smooth planning of existing avoidance turning and method for evaluation of quality complicated, computationally intensive.
Description
Technical field
The present invention relates to unmanned Path Planning Technique field more particularly to a kind of intelligence based on avoidance turning quality estimating
Unmanned platform path planing method.
Background technique
Unmanned path planning just refers in the case where comprehensively considering the constraints such as runing time, mobility, environmental condition, seeks
Look for the feasible or optimal track that unmanned platform can be made to reach target point from starting point.
The path planning being connected directly by rough path point can inevitably have " detour " and " broken line ", these are " curved
Road " and " broken line " also add the fuel cost in path, further, since nothing not only without the threat cost in reduction path on the contrary
The limitation (such as steering locking angle, radius of curvature) of people's platform own physical condition and barrier, unmanned platform cannot be complete
It flies according to the path of generation, while in order to evaluate the effect of Intelligent unattended platform turning, in order to correct optimization algorithm, therefore
Smoothing processing and avoidance turning quality estimating need to be optimized to the path of generation.Based on Intelligent unattended platform (including unmanned plane,
Unmanned boat etc.) avoidance turning method for evaluation of quality research, can be applied to the turning paths such as Intelligent unattended platform, civil aviaton and set
Meter improves path operational safety, improves on-road efficiency, reduces operating cost, can be used as unmanned platform path and plans each algorithm
Thinking supplement, it is possible to provide to design and develop personnel understand Intelligent unattended platform operating condition, further improve unmanned platform and set
Count performance.
Intelligent unattended platform method for evaluation of quality at present it is most of with manned platform be use for reference, lack specification, especially keep away
Hinder motor-driven turning assessment, in conventional quality estimating technical aspect, software for calculation lacks systematicness, and assessment constraint condition is too many,
It is too complicated, it is computationally intensive the disadvantages of, meanwhile, need designer rule of thumb to assess, be limited to human factor influence.Separately
Outside, it turns just for the key Design avoidance in path planning, carries out sawtooth design and quality estimating, there are no simple possibles
Method.
Summary of the invention
In view of above-mentioned analysis, the embodiment of the present invention is intended to provide a kind of Intelligent unattended based on avoidance turning quality estimating
Platform path planing method, to solve to calculate present in the smooth planning of existing avoidance turning and method for evaluation of quality it is complicated,
Computationally intensive problem.
The present invention provides a kind of Intelligent unattended platform path planing methods based on avoidance turning quality estimating, including with
Lower step:
According to the turning radius of starting path point, termination path point and unmanned platform, the avoidance turning center of circle is calculated, and is advised
Mark the smooth paths of unmanned platform avoidance turning；
According to the smooth paths cooked up, in starting path point, terminates between path point, increases new path point,
Unmanned platform is moved according to the smooth paths and all path points；
According to the avoidance turning center of circle being calculated, the avoidance turning quality of unmanned platform is assessed, quality is obtained
Assessment result；
Optimize the planning path of unmanned platform according to the assessment result.
Above-mentioned technical proposal has the beneficial effect that the path planning and quality for realizing the turning of Intelligent unattended platform avoidance
Assessment, solve solve to calculate present in the smooth planning of existing avoidance turning and method for evaluation of quality it is complicated, computationally intensive
The problem of.
Further, include according to the planning path that the assessment result optimizes unmanned platform, according to the product of unmanned platform
Matter assessment result, it is determined whether in starting path point, terminate between path point, increase new path point, again to optimize nobody
The motion path of platform.
Having the beneficial effect that for above-mentioned technical proposal is modified by avoidance turning path of the above method to outline plan
And optimization processing, it ensure that the flatness of avoidance turning path.
Further, according to starting path point, termination path point and turning radius, the avoidance turning center of circle is calculated, specifically
It include: to establish unmanned platform turning coordinate, according to the rectangular co-ordinate for terminating path point, to build to originate path point as coordinate origin
The equation of circle is found,
According to round equation and the rectangular co-ordinate of termination path point, the avoidance turning center of circle is calculated, wherein (x, y) is to keep away
The barrier turning center of circle, (x0,y0) terminate path point rectangular co-ordinate, R is turning radius.
Further, the rectangular co-ordinate for terminating path point, finds out especially by following formula:
Wherein,Respectively starting path point and termination path point.
Further, the smooth paths for cooking up unmanned platform avoidance turning, specifically include, according to the starting path
Point terminates path point and the avoidance turning center of circle, cooks up the smooth paths of unmanned platform avoidance turning.
Having the beneficial effect that for above-mentioned technical proposal is simple by the above method, effectively cooks up unmanned platform avoidance turns
Curved smooth paths.
Further, turning the method also includes, avoidance, there are two values by center of circle ordinate y, when y takes the larger value,
The unmanned platform avoidance turning smooth paths cooked up are right-hand bend path, when y takes smaller value, for left-hand bend path.
Further, according to the avoidance turning center of circle being calculated, the avoidance turning quality of unmanned platform is assessed,
Quality evaluation specifically includes: acquiring the true turning path data of unmanned platform, and is turned according to the avoidance being calculated
The center of circle assesses the avoidance turning quality of unmanned platform, obtains quality evaluation.
Further, it acquires the true turning path data of unmanned platform, and is turned the center of circle according to the avoidance being calculated,
The avoidance turning quality of unmanned platform is assessed, specifically includes: acquiring the true turning path data of unmanned platform, foundation
The turning path data and the avoidance turning center of circle, establish avoidance turning quality estimating formula
According to avoidance turning quality estimating formula, the avoidance turning quality of unmanned platform is assessed；Wherein,
(x, y) is the avoidance turning center of circle, and R is turning radius, (x0,y0),(x1,y1),…(xn,yn) it is the true turning rail collected
Mark data.
Above-mentioned technical proposal has the beneficial effect that the accurate evaluation realized by the above method to avoidance turning quality,
It is provided safeguard for amendment and optimization processing avoidance turning path.
Further, according to the quality evaluation of unmanned platform, it is determined whether starting path point, terminate path point it
Between, increase new path point again, specifically include: if unmanned platform quality evaluation meets the requirements, originating path point, end
It only between path point, does not need to increase new path point again, otherwise, needs to increase new path point again.
Having the beneficial effect that for above-mentioned technical proposal can continue actual avoidance turning path by the above method
Optimization, so that path be made to meet the requirement of unmanned platform maneuvering stability.
Further, unmanned platform turning coordinate is established, is specifically included: using WGS-84 as coordinate reference system, positive east
To for X-axis, direct north is Y-axis.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the flow diagram of the method for the embodiment of the present invention；
Fig. 2 is unmanned platform turning coordinate schematic diagram described in the embodiment of the present invention；
Fig. 3 is the smooth planning simulation figure of avoidance turning path described in the embodiment of the present invention；
Fig. 4 is that turning quality evaluation described in the embodiment of the present invention emulates schematic diagram.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
Embodiment
A specific embodiment of the invention discloses a kind of Intelligent unattended platform road based on avoidance turning quality estimating
Diameter planing method, flow diagram, as shown in Figure 1, the method, comprising the following steps:
Step S1, according to starting path point, path point and turning radius are terminated, calculates the avoidance turning center of circle, and plan
The smooth paths of unmanned platform avoidance turning out；
Firstly, carrying out coordinate conversion, input starting path point establishes round equation according to turning radius for coordinate origin；
Specifically, assuming path pointTo path pointIt is required that turning radius R (its value and unmanned platform itself property
Can be related), round origin of turning is (x, y), keeps unmanned platform motor-driven more stable to optimize the path from A to B, now with WGS-
84 are used as coordinate reference system, and due east direction is X-axis, and direct north is Y-axis, and X-axis and Y-axis unit are km, then unmanned platform turning
Coordinate schematic diagram, as shown in Figure 2；Using A path point as coordinate origin, round equation is then established
Wherein, (x0,y0) be B rectangular co-ordinate；
Secondly basis, the rectangular co-ordinate of B calculate the avoidance turning center of circle；Terrestrial meridian (line in the South Pole to the arctic) is long
Degree is 39940.67km, a length of 40075.36km of equatorial circumference, the then rectangular co-ordinate (x of B0,y0) can be found out by following formula；
Further by (1), it can be obtained
For convenience of calculation, further enable, 4k0=a, -4k0y0=b,
Then, using radical formula method, and unmanned platform turn direction is combined, available center of circle y-axis coordinate,
And, the coordinate of center of circle x available by (3), wherein when y the larger value, indicate that unmanned platform is turned right, y is smaller
When value, indicate that unmanned platform turns left；After central coordinate of circle (x, y) is calculated, can according to the center of circle, with path point A starting point,
Using path point B as terminal, the smooth paths of the theoretic avoidance turning of unmanned platform are cooked up；
Using WGS-84 as coordinate reference system, using abscissa as latitude, the longitudinal axis is longitude, from path A (f0, q0) to turn
Radius R=100km carries out turning analog simulation, turning to path point B (f1, q1), wherein R=100KM, f0=101.4346；
Q0=31.2577；F1=101.3356；Q1=31.1566；The smooth planning simulation figure of avoidance turning path can be obtained, such as Fig. 3 institute
Show, from analogous diagram, it can be seen that in situation known to turning radius, the point from A path point to B path can design completely
Two smooth path transition curves out, specially left-hand bend and two kinds of situations of turning right；
Step S2, it according to the smooth paths cooked up, in starting path point, terminates between path point, increases multiple
New path point, unmanned platform are moved according to the smooth paths and all path points；
Step S3, according to the avoidance turning center of circle being calculated, the avoidance turning quality of unmanned platform is assessed, is obtained
To quality evaluation；
Specifically, acquire the true turning path data of unmanned platform, i.e., the longitude and latitude of the unmanned true turning path of platform
The parameters such as degree, and according to the avoidance turning center of circle being calculated, the avoidance turning quality of unmanned platform is assessed, product are obtained
Matter assessment result；
Illustratively, the true turning path data collected are (x0,y0),(x1,y1),…(xn,yn), then have, keeps away
Barrier turning quality estimating formula are as follows:
The true turning path data collected are more, and the effect of avoidance turning quality estimating is better；When it is implemented,
Calculated by a large amount of turning path data of acquisition, calculate the value of S, it is clear that S value is smaller, indicate true turning path with
Theoretical turning path value difference is other smaller, and avoidance turning quality at this time is better；
Step S4, optimize the planning path of unmanned platform according to the assessment result.
Specifically, according to the quality evaluation of unmanned platform, it is determined whether starting path point, terminate path point it
Between, increase new path point, again to optimize the motion path of unmanned platform；
Wherein, it if quality evaluation meets the requirements, does not need to increase new path point again, otherwise, need again
Increase new path point.
In a specific embodiment, the practical turning data for taking one group of civil aviaton to fly, according to above-mentioned avoidance turning product
Matter assesses formula, evaluates turning quality, and pass through MATLAB simulation calculation, obtains turning quality evaluation emulation signal
Figure, as shown in Figure 4；Wherein, Lu Jingdian A coordinate is (94.1199111,29.193641666), and the coordinate of path point B is
(94.0401888888,29.20097777), in the sea, coordinate is the reality of acquisition to turning radius R=R=28.1504 sidewards in Fig. 4
The number (number can continue growing) at border number of turns strong point, ordinate are turning deviation；
It is wucha1=0.0689 0.0702 0.0701 that left-hand bend deviation (i.e. quality evaluation), which is then calculated,
0.0715 0.0669 0.0709 0.0692 0.0690 0.0692 0.0693, it is wucha2 that right-hand bend deviation, which is calculated,
=-0.0921-0.0932-0.0907-0.0943-0.0893-0.0931-0.0922-0.0922-0.0923-
0.0924；From the above left and right turning error analysis it is found that turning deviation is respectively less than 0.1 nautical mile.
From civil aviaton's turning flight, by true turning flight data, by MATLAB simulation calculation, deviation of turning is small
In 0.1 nautical mile, in view of being quality estimating to true flight turning data, it can be seen that the airline carriers of passengers turning flight quality
It is excellent, meet related flight standard.
It should be noted that the present invention is smoothed just for the avoidance turning that Intelligent unattended platform must face,
And realize turning quality estimating, rectilinear flight is not then within the scope of research.
The present invention provides a kind of Intelligent unattended platform path planing methods based on avoidance turning quality estimating, solve existing
Have and calculates complicated, computationally intensive problem present in the smooth planning of avoidance turning and method for evaluation of quality；One aspect of the present invention
Consider in unmanned platform avoidance turning radius constraint and path there may be not may span across wedge angle, to cause nobody
Platform cannot fly or walk according to scheduled path, may threaten unmanned platform itself flight or walking security problems；
By the avoidance turning path planing method based on Intelligent unattended platform, to the avoidance turning path of outline plan into
Row amendment and optimization processing, guarantee path smooth, and path is made to meet unmanned platform maneuvering stability requirement；This is to China's intelligence
The raising of unmanned platform avoidance and civil aviaton's flight quality is of great significance；On the other hand by the quality turned to avoidance into
Row assessment, optimizing to China's consumer level unmanned plane also has sizable reference value, wide market；Therefore, base
There is especially important effect in the raising of further investigation of the invention platform development level unmanned for China.
It will be understood by those skilled in the art that realizing all or part of the process of above-described embodiment method, meter can be passed through
Calculation machine program is completed to instruct relevant hardware, and the program can be stored in computer readable storage medium.Wherein, institute
Stating computer readable storage medium is disk, CD, read-only memory or random access memory etc..
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of Intelligent unattended platform path planing method based on avoidance turning quality estimating, which is characterized in that including following
Step:
According to the turning radius of starting path point, termination path point and unmanned platform, the avoidance turning center of circle is calculated, and is cooked up
The smooth paths of unmanned platform avoidance turning；
According to the smooth paths cooked up, in starting path point, terminates between path point, increase new path point, nobody
Platform is moved according to the smooth paths and all path points；
According to the avoidance turning center of circle being calculated, the avoidance turning quality of unmanned platform is assessed, quality estimating is obtained
As a result；
Optimize the planning path of unmanned platform according to the assessment result.
2. the method according to claim 1, wherein optimizing the planning road of unmanned platform according to the assessment result
Diameter includes, according to the quality evaluation of unmanned platform, it is determined whether in starting path point, terminates between path point, increases again
Add new path point, to optimize the motion path of unmanned platform.
3. the method according to claim 1, wherein according to starting path point, terminating path point and turning half
Diameter calculates avoidance and turns the center of circle, specifically includes: establishing unmanned platform turning coordinate, to originate path point as coordinate origin, according to
The rectangular co-ordinate for terminating path point, establishes round equation,
According to round equation and the rectangular co-ordinate of termination path point, the avoidance turning center of circle is calculated, wherein (x, y) is that avoidance turns
The curved center of circle, (x0,y0) terminate path point rectangular co-ordinate, R is turning radius.
4. according to the method described in claim 3, it is characterized in that, it is described terminate path point rectangular co-ordinate, especially by such as
Lower formula is found out:
Wherein,Respectively starting path point and termination path point.
5. according to the method described in claim 4, it is characterized in that, cooking up the smooth paths of unmanned platform avoidance turning, tool
Body includes according to the starting path point, terminating path point and the avoidance turning center of circle, cooking up unmanned platform avoidance turning
Smooth paths.
6. there are two take avoidance turning center of circle ordinate y the method according to claim 1, wherein further including
Value, when y takes the larger value, the unmanned platform avoidance turning smooth paths cooked up are right-hand bend path, when y takes smaller value,
For left-hand bend path.
7. the method according to claim 1, wherein being put down according to the avoidance turning center of circle being calculated to nobody
The avoidance turning quality of platform is assessed, and quality evaluation specifically includes: acquiring the true turning path number of unmanned platform
According to, and according to the avoidance turning center of circle being calculated, the avoidance turning quality of unmanned platform is assessed, quality estimating is obtained
As a result.
8. the method according to claim 1, wherein acquiring the true turning path data of unmanned platform, and root
According to the avoidance turning center of circle being calculated, the avoidance turning quality of unmanned platform is assessed, specifically includes: it is flat to acquire nobody
The true turning path data of platform establish avoidance turning quality estimating according to the turning path data and the avoidance turning center of circle
Formula
According to avoidance turning quality estimating formula, the avoidance turning quality of unmanned platform is assessed；Wherein, (x, y)
For the avoidance turning center of circle, R is turning radius, (x0,y0),(x1,y1),…(xn,yn) it is the true turning path number collected
According to.
9. according to the method described in claim 2, it is characterized in that, according to the quality evaluation of unmanned platform, it is determined whether
It in starting path point, terminates between path point, increases new path point again, specifically include: if unmanned platform quality estimating knot
Fruit meets the requirements, then originates path point, terminates between path point, do not need to increase new path point again, otherwise, need again
Increase new path point.
10. according to the method described in claim 3, specifically including it is characterized in that, establish unmanned platform turning coordinate: with
WGS-84 is X-axis as coordinate reference system, due east direction, and direct north is Y-axis.
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Application publication date: 20190215 |