Trajectory planning and velocity planning method based on bezier curve transition smoothing

A Bezier curve and speed planning technology, applied in the field of UAV navigation, can solve the problems of low efficiency of speed planning methods, low time efficiency, and high cost of path planning computing power

Pending Publication Date: 2019-06-04
SHANGHAI JIAO TONG UNIV
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AI Technical Summary

Problems solved by technology

However, the existing methods still have many limitations, such as: the planning process does not fully consider the dynamic characteristics of the UAV; the planned path is unreasonable and time-efficient; The method is inefficient and does not meet the requirements of real-time computing, etc.

Method used

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  • Trajectory planning and velocity planning method based on bezier curve transition smoothing
  • Trajectory planning and velocity planning method based on bezier curve transition smoothing
  • Trajectory planning and velocity planning method based on bezier curve transition smoothing

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Embodiment Construction

[0068] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

[0069] like figure 1 As shown, the trajectory planning and speed planning method based on Bezier curve transfer smoothness provided by the present invention comprises the following steps:

[0070] Step 1: Input the waypoint in the three-dimensional space, the dynamic constraints (maximum speed, maximum acceleration, maximum jump) and the maximum error of the allowable waypoint;

[0071] Step 2: With the length of the straight line segment and the maximum allowed trajectory smoothing error as constraints, establish and solve the optimization problem of smooth transition parameters of each Bezier curve...

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Abstract

The invention discloses a trajectory planning and velocity planning method based on bezier curve transition smoothing, and relates to the technical field of unmanned aerial vehicle navigation. The method comprises the steps that a waypoint in a three-dimensional space, maximum velocity, maximum acceleration, maximum saltus and allowed maximum error of the waypoint are input; the length of a straight line segment and the allowed maximum trajectory smoothing error are used as constraints, the optimization of each bezier curve smooth transition parameter is established and solved; a complete binary tree data structure and dynamic constraints are used to plan the velocity of a curve section; velocity planning of the straight line segment is carried out according to the velocity planning of thecurve segment; the whole flight trajectory is interpolated in real time to acquire a reference flight trajectory. According to the invention, parameters of path planning are adjusted; flight velocityis optimized to shorten flight time; and flight planning is efficiently carried out to ensure real-time calculation.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle navigation, in particular to a trajectory planning and speed planning method based on transition smoothing of Bezier curves. Background technique [0002] In the path planning process of UAV's autonomous flight, the method of using Bezier curves to connect and transfer between waypoints has been widely used. However, the existing methods still have many limitations, such as: the planning process does not fully consider the dynamic characteristics of the UAV; the planned path is unreasonable and time-efficient; The method is inefficient and does not meet the requirements of real-time computing. [0003] Therefore, those skilled in the art are committed to developing a trajectory planning and speed planning method based on Bezier curve transfer smoothness, adjusted the parameters of the path planning, and optimized the flight speed so as to shorten the flight time; efficiently carry...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 龚畅阳董伟盛鑫军朱向阳
Owner SHANGHAI JIAO TONG UNIV
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