环境重建三维格网数据下的快速航迹规划方法

A Fast Route Planning Method with 3D Reconstruct Triangular Grid

三维环境重建数据往往以三角格网的形式进行管理和存储,在该数据上进行航迹规划是飞行器、机器人等实现自主飞行或行走的基础。但是航迹规划过程面临的最大困难是规划数据量庞大,规划时间过长以及内存消耗过大。本文以三维重建所得到的三角格网环境数据为基础,提出一种基于通视性分析的三维航迹规划算法。与A*算法和粒子群算法进行对比,实验结果表明本文算法能够在占用较少的内存空间的情况下快速生成三维可行航迹。

The 3D environment reconstruction data are often represented with triangular grid,3 D reconstruction data based path planning is a basic work for UAV＇s autonomous flight.However,the biggest difficulty in the planning process is the large amount of planning data,the long planning time and the excessive consumption of memory.Based on the triangular grid environment data obtained by 3D reconstruction,this paper proposed a three-dimensional path planning algorithm based on visibility analysis.By experiment,the method based on the visibility analysis was compared with the A＊ algorithm and particle swarm optimization.The experimental results showed that the proposed algorithm can generate three-dimensional feasible track rapidly in the case of less memory space.