基于评价函数的空中机器人路径规划方法

Aerial robot path planning method based on evaluation function

提出了一种基于评价函数的空中机器人路径规划方法.对空中机器人建立了二维平面内的简化动力学模型.将机器人到目标直线的路径分解为等时间间隔的序列,以机器人与目标直线的距离、角度差、速度矢量差为组成成分设计了评价函数,对每个时间间隔搜索使评价函数最小的控制量,得到最优控制量序列.进行了不同初始偏航角下的路径规划仿真实验,其结果证明了方法的有效性,达到了理想的效果.

A path planning method based on evaluation function was proposed for aerial robot. A two - dimentional dynamics model was built for aerial robot. The path from the robot towards the target line was divided into equal time intervals sequence. An evaluation function that contains the distance, angle difference and velocity vector difference was designed. The control value that minimizes the evaluation function for every time intervals was searched so that the optimal control value sequence was obtained. The simulation experiments of path planning on different initial yaws were conducted. The result proved that the method was effective and could achieve the ideal effect.