基于B样条曲线的无人机航路规划算法

B Spline Based on the Path Planning and Re-Planning for Unmanned Air Vehicles

提出了一种动态环境中无人机(UAV)航路规划与重规划算法。根据战场中各个已知威胁的位置建立可行点之间的有向图,用Dijkstra算法生成一条由若干直线段连接的参考航路,再利用B样条曲线具有C2连续性、局部性、保凸性以及B样条曲线的曲率变化比较均匀的特点,对规划的参考航路进行修正和验证,使得规划航路对无人机安全可飞。当遇到突然出现的威胁时,可对航路进行局部重规划。

An algorithm that generates a feasible flight route in the dynamic environment for an unmanned air vehicle (UAV) is presented. A coarse route which consists of a series straight-line segments is generated based on the vector graphics constructed according to the location of threats. Using the B spline's characteristic to modify the coarse route to make sure that the route is feasible. While occurring the popping threat, the algorithm can compute a new local path quickly again when the UAV flies along the previous computed path, i.e. re-planning path.