A space-time joint optimization method for trajectory planning of quadrotor unmanned aerial vehicle

Abstract

The invention discloses a trajectory planning method for a four-rotor unmanned aerial vehicle based on joint optimization of space and time. The discrete path points are obtained by searching the front-end path, and the time interval is allocated to each path by using the trapezoidal time allocation method. The initial Trajectory path; based on the duration cost and energy consumption cost of the initial trajectory, the time interval is proportionally adjusted in consideration of constraints, the optimal adjustment ratio is solved and the time intervals of all trajectory segments are updated; after that, unconstrained polynomial coefficient optimization is alternately performed When the trajectory cost tends to converge, the cycle step is ended; the overall proportional adjustment is performed on the entire trajectory path to ensure that the entire trajectory meets the constraint conditions, and the final optimal trajectory is obtained; the polynomial trajectory time discretization is used to obtain Waypoints to control the aircraft to follow the trajectory. The invention not only realizes the space-time joint optimization of the trajectory, but also greatly improves the calculation rate.

Description

Technical field [0001] The present invention belongs to the field of four-cyclic unmanned aircraft navigation trajectory planning, and specific to a spatial time jointly optimized four-rotorless aircraft trajectory planning method. Background technique [0002] In the past ten years, with the development of various new technologies, such as integrated circuits, microelectromechanical systems, new control theory and methods, four-rotorless drones have obtained people's research interests. The four-rotorless drone is small, flexible, with vertical lifting function, can hover in the air, with an irreplaceable advantage. In addition, communication technology, control principle, SLAM algorithm, path planning algorithm, etc., make the performance indicators of the four-rotorless drone gradually increase, in addition to the application of military sectors, the application of four-rotorless drones has been expanded to Earthquake relief, agricultural plant protection, film and television ...

AI Technical Summary

Problems solved by technology

For the quadrotor rear-end trajectory planning problem, based on the segmented polynomial trajectory, the QP problem of minimizing the trajectory snap integral is modeled, and the closed-form solution of the optimal boundary condition of the polynomial trajectory is derived, and the focus is on the trajectory space optimization part. ; There is also a method of path search combined with back-end B-spline curve optimization under the front-end dynamic constraints, and by adjusting the node length of the non-uniform B-spline curve to ensure the dynamic constraints of the trajectory, the disadvantage is that the trajectory time is ignored segment optimization, the trajectory after node length adjustment can no longer guarantee optimality; and based on piecewise polynomials, the optimization of polynomial boundary conditions with constraints and the optimization of polynomial time intervals with constraints are proposed and proved for the first time. Spatial-temporal Joint Optimal Trajectory Generation Method

However, due to the complexity of solving two constrained optimization problems and the loop optimization structure of the method, the rate of trajectory generation is slowed down.

[0004] In summary, although there are many solutions in the field of trajectory planning, there is still a lack of real-time and fast space-time joint optimization trajectory generation methods.

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