Unmanned aerial vehicle steering flight path planning method based on Bezier curve
A Bezier curve and flight path technology, applied in vehicle position/route/altitude control, instruments, 3D position/channel control and other directions, it can solve problems such as discontinuity of velocity and acceleration functions, and achieve small computation and stability. high effect
Active Publication Date: 2021-09-28
BEIFANG TT AVIATION TECH DEV BEIJING CO LTD
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Problems solved by technology
[0005] The purpose of the present invention is to provide a UAV steering flight path planning method based on Bezier curves, to solve the speed of the UAV in the steering process The function of acceleration is discontinuous and non-differentiable, and the steering path planning is carried out
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[0036] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0037] For the planning of UAV turning flight path, in the process of changing speed and direction, such as figure 1 In the process, the drone starts from point A, passes through point B, and reaches point C. The ideal condition is: the drone flies from point A to point B, slows down while approaching point B, and reaches point B when it reaches point B. When the speed drops to zero, it starts to accelerate from a static state and flies from point B to point C. but the
[0038] The realization of ideal conditions is very inefficient, 2 To avoid the process of first decelerating to zero and then accelerating, it is necessary to determine a safe range around point B. As long as the drone can pass through this range on the path, it is considered to have passed point B. Therefore, the ideal planned path is an arc tangent to the safe are...
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The invention discloses an unmanned aerial vehicle steering flight path planning method based on a Bezier curve, and the method comprises the steps of combining the linear flight actions with the curve flight actions; determining that the actual steering flight paths of an unmanned aerial vehicle are classified into a linear flight path, a linear flight-curve flight path, a curve flight-linear flight path, a curve flight-linear flight-curve flight path and a curve flight path; based on the Bezier curve, carrying out centripetal acceleration planning; according to the initial speed, the final speed and the initial maximum speed, judging the state of the unmanned aerial vehicle, planning the relation among the speed, the acceleration and the navigation time, and carrying out path time planning. According to the path planning method, the technical difficulty that a function of the speed and the acceleration generated in the steering process is discontinuous and non-derivable is solved, and the method has the advantages of being small in calculation amount and high in stability.
Description
technical field [0001] The invention relates to the technical field of UAV path planning, in particular to a Bezier curve-based UAV steering flight path planning method. Background technique [0002] Due to the strong inertia and weak air resistance, the UAV cannot change direction with a clear angle in the air. Any direction change action, as long as the difference between the current heading angle and the target heading angle is not 0, it needs to pass through a section. Complete the direction change in the form of an arc. Take the following working conditions as an example, assuming that the UAV is moving in a straight line at a constant speed before changing direction, and the speed at this time is a constant V 1 , the acceleration is 0; after a 90° change of direction, it is assumed that the speed of this arc is a constant V 2 , the centripetal acceleration is a constant a2; after changing direction, the UAV also returns to the previous state, that is, the speed is a ...
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Login to View More IPC IPC(8): G05D1/10
CPCG05D1/106
Inventor 刘新阳杨苡陈海诺唐佰文
Owner BEIFANG TT AVIATION TECH DEV BEIJING CO LTD