Unmanned aerial vehicle trajectory smoothing method based on Bessel curve transition

Abstract

The invention provides an unmanned aerial vehicle (UAV) trajectory smoothing method based on Bessel curve transition, comprising the following steps: constructing a Bessel transition function according to known linear route segments, and quickly establishing flight trajectory geometrical characteristics satisfying curvature continuity; with the length of the linear route segments and the allowed maximum trajectory smoothing error as constraints, establishing and solving an optimization problem of the smoothing transition length of each Bessel curve; determining maximum speed, acceleration and jerk constraints, and determining the maximum flight speed of transition segments based on the nature of the Bessel function; performing S-shaped motion planning for all linear segments, and determining the acceleration and deceleration time of each linear segment; iteratively searching and planning the flight speed of each segment to ensure the kinematic compatibility; and performing real-time interpolation to complete flight path generation. The flight performance of UAV can be improved greatly under the premise of guaranteeing the calculation efficiency.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for smoothing unmanned aerial vehicle tracks based on Bezier curve transfer. Background technique [0002] During the fully autonomous flight of UAVs, a reasonable trajectory generation strategy is one of the key technologies to ensure the flight performance of UAVs. At present, the trajectory generation strategy adopted by the autonomous flight of UAV presents a trend of differentiation between academic research and specific application. On the one hand, the academic community has proposed many types of global optimal flight trajectory generation methods based on polynomial and spline fitting; on the other hand, in actual autonomous flight, the simple straight line connection method is often still used for fast trajectory generation. The reason for the significant difference between the above research and application methods is that during real-time au...

AI Technical Summary

Problems solved by technology

However, the currently widely used linear connection method cannot guarantee efficient autonomous flight performance, and even the flight method itself is not compatible with the dynamic performance of UAVs.

Images