基于复合优化RRT的无人翼伞三维航迹规划方法

Trajectory Planning in Three Dimensions for Unmanned Parafoil Based on Compound Optimization RRT

以无人翼伞山地地形空投任务为背景,针对特定环境下的航迹规划问题,提出一种基于复合优化RRT(compound optimization RRT,CO-RRT)的三维航迹规划算法.分别建立无人翼伞运动模型和三维山地地形仿真环境,定义翼伞性能约束和防撞避障规则.对常规RRT方法进行改进,通过引入基于采样扩展和运动光滑度的复合优化策略,构建基于CO-RRT的三维航迹规划方法.仿真实验表明,所提方法能够在保证飞行可行性的同时,提高航迹的光滑度和可操作性.

Against the background of unmanned parafoil airdrop task in hilly areas,and focusing on the trajectory planning problem in special environment,a 3D trajectory planning method based on compound optimization random tree(CO-RRT)algorithm is proposed.The particle model of parafoil and 3D simulation model of hilly areas are established.Meanwhile,the constraints of parafoil's performance and obstacle avoidance rules are defined.The trajectory planning method of CO-RRT algorithm is proposed,in which the optimization strategy of sampling extension and movement smoothness are introduced to the conventional RRT.The simulation results show that the proposed algorithm can not only ensure the flight feasibility,but also enhance the smoothness and the operability of the trajectory.