室内复杂环境下多旋翼无人机动态路径规划
Dynamic path planning of multi-rotor unmanned aerial vehicle in indoor complex environment
查看参考文献17篇
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文摘
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针对多旋翼无人机在室内复杂环境下的动态路径规划问题,提出了一种基于高度降维空间环境模型的无记忆回归A*算法。首先,提出了一种高度降维的空间环境建模方法,将三维空间降到二维,降低了环境模型的复杂度,提高了规划效率。在环境建模的基础上,提出了以全局路径规划结果为基础进行局部动态搜索的思路,并设计了无记忆回归A*算法,即首先使用传统A*算法进行全局路径规划,参考全局规划结果,利用无记忆回归A*算法对动态障碍物进行避障,避障完成后回归到全局规划路径上。最后利用仿真实验验证了所提方法的有效性。仿真结果表明,在指定环境下所提方法的路径规划时间和路径规划长度较无记忆A*算法更短,两项指标分别提升了13.8%和41.6%。 |
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其他语种文摘
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Aiming at the dynamic path planning problem of multi-rotor UAV in indoor complex environment,a memoryless regression A* algorithm based on high-dimensionality-reduced space environment model is proposed.Firstly,a high-dimensionality-reduced space environment modeling method is proposed,in which the three-dimensional space is reduced to two dimensions.In this way,the complexity of environment model is decreased,and the programming efficiency is improved.On the basis of completing the modeling of environment,a method of local dynamic search based on the results of global path planning is proposed,a memoryless regression A* algorithm for local dynamic programming is designed,and the traditional A* algorithm is used to perform global path planning.Then,referring to the results of global programming,the memoryless regression A* algorithm is employed to avoid dynamic obstacles in the flight process.After the avoidance,UAV returns to the global planning path.Finally,simulation experiments verify the validity of the proposed method.The simulation results show that the path planning time and path planning length of the proposed method are both shorter than those of the memoryless A* algorithm in the specified environment,and the two indicators are improved by 13.8% and 41.6%,respectively. |
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来源
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中国惯性技术学报
,2019,27(3):366-372,377 【核心库】
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DOI
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10.13695/j.cnki.12-1222/o3.2019.03.013
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关键词
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环境建模
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无人机路径规划
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无记忆回归A*算法
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无记忆A*算法
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地址
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1.
沈阳建筑大学信息与控制工程学院, 沈阳, 110168
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中国科学院沈阳自动化研究所数字工厂研究室, 沈阳, 110016
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中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 沈阳, 110016
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中国科学院机器人与智能制造创新研究院, 沈阳, 110016
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1005-6734 |
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学科
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自动化技术、计算机技术;航空 |
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基金
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国家重点研发计划课题
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国家自然科学基金
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文献收藏号
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CSCD:6568446
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