基于概率地图方法的无人机路径规划研究

Study on Path Planning for UAV Based on Probabilistic Roadmap Method

论述了现有无人机路径规划算法普遍存在的一些问题,引入了一种快速、有效的无人机路径规划算法-概率地图方法,详细描述了概率地图方法的实现步骤,并对传统概率地图方法的执行流程作了改进,改进后的算法在时间特性上有了较大幅度提升。讨论了改进后的概率地图方法和传统的概率地图方法在无人机路径规划中的优缺点,并给出了仿真结果。总结了概率地图方法在工程应用中需要改进的一些方面。

Some ubiquity problems in path planning Algorithm for UAV were discussed, then a fast and effective path planning Algorithm for UAV, the Probabilistic Roadmap Method, was introduced. The realization steps of Probabilistic Roadmap Method were described elaborately. Some modification have made to the process of Probabilistic Roadmap Method. The time characteristic of the modified algorithm has obviously advanced. The advantages and disadvantages that between improved Probabilistic Roadmap Method and conventional Probabilistic Roadmap Method practiced in path planning for UAV were discussed, and the simulation result is represented. Some way, the Probabilistic Roadmap Method applied in projects need improve, was summarized.