基于贝赛尔曲线的四旋翼无人机轨迹优化

Trajectory optimization of quadrotor UAV based on Bessel curve

针对四旋翼无人机路径规划中生成的轨迹的位移、速度、加速度函数都存在大量不可导点的问题,提出了一种基于贝塞尔曲线的最小高阶位移导数轨迹的优化方法。首先,通过最小位移导数的方法对快速行进算法生成轨迹进行优化,给四旋翼位置环控制器提供输入;进而,给最小位移导数法引入了贝塞尔曲线再优化,通过讨论四旋翼无人机飞行的约束条件,将其转化为凸二次规划问题并使用内点法完成求解;最后,在ROS下的Rviz三维可视化界面对优化前后轨迹进行仿真。仿真结果表明,经贝赛尔曲线优化后的轨迹都是连续可导的,解决了四旋翼无人机飞行过程中能量损失等问题。

Aiming at the problem that there could be a lot of non-differentiable points in the displacement,velocity and acceleration functions of the trajectory generated in the path planning of Four-rotor UAV,an optimization method based on Bessel curve**s minimum and high-order displacement derivative trajectory is proposed.Firstly,the trajectory of the fast marching algorithm is optimized by the method of minimum displacement derivative,which provides input for the Four-rotor position loop controller.Secondly,the Bessel curve is introduced to the optimization function.By discussing the flight constraints of the Four-rotor UAV,the trajectory is transformed into a convex quadratic programming problem and solved by the interior point method.Finally,the trajectory before and after optimization is simulated in Rviz 3D visualization interface under ROS.The simulation results show that the optimized trajectory is continuous and differentiable,which solves the problem of energy loss during flight.