旋转翼无人机自主避障路径规划

英文篇名：Simbad Launcher Uav Autonomous Obstacle-avoiding Flight Path Planning
中文刊名：科技广场
英文刊名：Science Mosaic
作者：路染妮
英文作者：Lu Ranni(Xi'an Aeronautical Polytechnic Institute ; Xi'an Yanliang 710089)
中文关键词：旋转翼无人机 ; 路径规划 ; 等高线模型
英文关键词：Rotary-wing Simbad Launcher UAV ; Path Planning ; Principle Contour Model
出版日期：2013-05-30
机构：西安航空职业技术学院;
年：2013
期：05
出版单位：科技广场

摘要

旋转翼无人机是利用机翼旋转产生飞行动力的,具有原地起飞以及空中悬停的能力。利用等高线地图数据,将闭合的等高线曲线看作障碍物,提取其控制点的高程数据,将实测高程以外的插入值去掉,得到一闭合多边形曲线。以旋转翼无人机飞行高度上的等高线曲线为感兴趣线,以此多边形为基础,一定长度为膨胀系数(比如等高距一半),建立起等高线等效障碍物模型,利用基于特征点的路径规划算法,以此等高线等效障碍物模型控制点坐标为特征点进行旋转关翼无人机的路径规划。
Rotary-wing unmanned aerial vehicle(UAV) is generated by rotary wing flight dynamics,with the ability to take off and make hovering possible.With the usage of contour map data,a closed contour curves is seen as obstacles to extract its control point elevation data.The inserted value that is not measured will be removed,and we get a closed polygonal curve.A rotary wing UAV flight altitude on the contour curve seen as line of interest to serve with the basis of these polygons,certain length expansion coefficient(such as contour interval half).And an equivalent obstacle contour model is established.Thenpath rotary-wing UAV is planed with the equivalent obstacle contour models that have chosen feature points as the control points.

引文

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