复杂环境下无人机三维航迹规划及避障算法

A 3D Trajectory Planning and Obstacle Avoidance Algorithm for UAV in Complex Environment

针对三维复杂环境下高时效规划无人机航迹问题,提出一种改进的双向A*算法。设计扇面搜索域,减少计算开销;动态调整启发函数权重,优化代价函数,提高搜索效率;引入关键节点筛选策略,消除航迹中的冗余点,生成全局最优静态航迹。就飞行航迹中出现的动态避障问题,设计动态避障航迹最短优化目标函数,提出基于变分法的动态避障算法,考虑航迹容忍度,实现局部航迹在线调整和优化。仿真结果表明,设计的航迹规划算法不仅能在复杂环境下高时效规划出一条期望航迹,还能对突发威胁动态避障。

An improved algorithm based on bidirectional A*is proposed to solve the problem of high-efficiency UAV trajectory planning in 3D complex environment.A sector search area is designed to reduce computation overhead.In order to improve search efficiency,the dynamic weighted bidirectional A*algorithm is developed to optimize cost function.The key node screening strategy is introduced to eliminate redundant points in trajectory and generate global optimal static trajectory.Aiming at the problem of dynamic obstacle avoidance in trajectory,an optimization objective function of the shortest dynamic obstacle avoidance trajectory is designed,and the dynamic obstacle avoidance algorithm based on the calculus of variations with trajectory tolerance constraints is introduced,which realizes online adjustment and optimization of local trajectory.Simulation results show that the designed trajectory planning algorithm can not only plan an expected trajectory of UAV with high efficiency in complex environment,but also dynamically avoid random obstacles.