UAV Trajectory Smoothing Method Based on Bezier Curve Transition

A Bezier curve and trajectory smoothing technology, applied in vehicle position/route/altitude control, data processing applications, prediction, etc., can solve problems such as the inability to guarantee autonomous flight performance and the incompatibility of UAV dynamics performance in flight modes.

CN106325294BActive Publication Date: 2020-03-06SHANGHAI JIAO TONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2020-03-06

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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.
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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...

Examples

Embodiment Construction

[0063] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0064] The UAV trajectory smoothing method based on Bezier curve transfer provided by the present invention comprises the following steps:

[0065] Step S1: For the waypoint P 1 , P 2 , P 3 Consisting of a straight line trajectory, at the vertex P 2 Realize the Bezier curve transfer in the following form

[0066]

[0067] in

[0068]

[0069] and have c 2 =(c 1 +4)(c 1 +1), c 3 =(c 1 +4) / (c 2 +6), η=6c 3 cosβ / (c 1 +4),

[0070]

[0071] Step S2: For a given curve smoothing error...