Unmanned aerial vehicle path planning method based on PH curve

Abstract

The invention discloses an unmanned aerial vehicle path planning method based on a PH curve. The method comprises steps as follows: (1) initializing an unmanned aerial vehicle motion condition and a task map; (2) setting multiple path control points according to the initial condition, forming the PH curve according to the control points, and representing the PH curve into a Bessel n-order polynomial; (3) defining the Bessel n-order polynomial into a five-order polynomial, performing derivation operation and interpolation operation between two points on the five-order polynomial accordingly, determining an unmanned aerial vehicle path curve shape, ad calculating position parameters of corresponding control points; (4) adjusting a regression coefficient to change the length of a tangent vector so as to meet a PH curve constraint condition and an unmanned aerial vehicle constraint condition, so that the control points are corrected, and an unmanned aerial vehicle path capable of avoiding barriers is obtained. The method can solve problems that barriers in paths cannot be avoided, the path planning accuracy is low and paths cannot meet unmanned aerial vehicle kinematic constraint in the prior art.

Description

technical field [0001] The invention belongs to the technical field of UAV path planning, and in particular relates to a UAV obstacle avoidance flight path planning method. Background technique [0002] UAV (Unmanned Aerial Vehicle) usually refers to an unmanned aircraft controlled by radio remote control equipment and its own program control device. Compared with manned aircraft, it has the characteristics of small size, low cost, convenient use, low requirements on the operating environment, and strong survivability. These unique superior properties make it have great development potential in application. It can be used in military intelligence acquisition, ground battlefield reconnaissance and surveillance, close air support and no-fly patrols, electronic warfare, communication relay, etc. It is equally promising in civilian applications, such as search and rescue after major natural disasters, patrol surveillance And target tracking, drug collection and anti-smuggling, ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a UAV obstacle-avoiding flight path planning method, which utilizes the PH curve to realize the optimization of the path, and solves the problems in the prior art that obstacles in the path cannot be avoided, path planning accuracy is low, and the path is not accurate. The Problem of Satisfying UAV Kinematics Constraints

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